基于遗传算法的汽车引擎盖焊接路径优化

Optimization of Welding Path of Automobile Engine Cover Based on Genetic Algorithm

针对汽车引擎盖焊接路径优化问题,提出了一种遗传算法加仿真修正的联合方法。对引擎盖待焊点先进行基于工件坐标系的坐标标注与编码,以焊接距离最短为评价函数,执行遗传算子,采用Matlab编程实现焊接机器人在工件上的最短焊接路径优化。根据DH参数建立焊接机器人模型,推导其正向运动学方程,最后采用离线编程软件RobotStudio完成对优化路径的仿真并修正干涉区域。结果表明,遗传算法优化可显著缩短焊接行程,虚拟仿真排除了干涉,确保了各关节可达性。有效提高工作效率,为大量焊点的焊接路径优化提供了新思路。

Aiming at the optimization of car hood welding path, a combined method of genetic algorithm plus simulation correction is proposed. The solder joint is labelled and coded based on the workpiece coordinate system firstly. Then take the shortest welding distance as evaluation function, execute the genetic operator. Via Matlab programming, the shortest welding path on the workpiece is implemented. According to the DH parameters, robot model was established and forward kinematics equation was derived. Finally, the offline programming software RobotStudio was used to complete the optimization of the path simulation and fine-tune the interference region. The results show that the optimization of genetic algorithm can significantly shorten the welding path;the simulation correction ensures all joints accessibility and improved work efficiency, which provides new ideas for optimization of large numbers of welding spots.