摘要
根据焊接机器人的结构特点,对其进行了模型简化,在对机器人进行正向运动学分析的基础上,运用Denavit-Hartenberg(D-H)矩阵法,求解出焊接机器人末端位姿的数学模型,完成了焊接机器人空间位姿的描述;运用ADAMS软件,建立了焊接机器人的虚拟样机模型,仿真得出了模型的末端轨迹,并与数学模型求解结果进行对比,验证了数学模型的准确性与可靠性;对其进行运动仿真分析,测量并研究了机器人各关节运动学参数的变化情况,为后续焊接机器人的设计和制造提供了依据,对于精确确定焊枪工作位置、确保焊接质量、降低产品废品率有重要意义.
According to the characteristics of it＇s structure,a simplified model based on kinematics positive direction analysis of welding robot was presented,with the method of Denavit-Hartenber（D-H） matrix,it then solved the mathematical model of the end pose of the welding robot and the description of welding robot＇s orientation and posture.With the software ADAMS,the motion simulation model of the welding robot was built up,the simulation trajectory of the end of model was obtained,and which was compared with the solution of the mathematical model to verify the accuracy and reliability of the mathematical model.With the simulation analysis of welding robot,the changes of kinematic parameters of the robot＇s joints were measured and studied,to provide the basis for subsequent design and manufacture of welding robot.It is very meaningful to set the welding position exactly,to ensure the welding quality and to reduce waster.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2012年第4期109-112,118,共4页
Transactions of The China Welding Institution
关键词
焊接机器人
虚拟样机
自由度
ADAMS
运动仿真
welding robot
motion simulation model
degree of freedom
ADAMS
kinematic simulation
