發(fā)布時(shí)間：2018-05-21 08:28

  本文選題：雙機(jī)器人協(xié)調(diào) + 路徑規(guī)劃��； 參考：《焊接學(xué)報(bào)》2015年03期

【摘要】：針對(duì)空間復(fù)雜曲線焊接問題進(jìn)行了雙機(jī)器人協(xié)調(diào)焊接路徑規(guī)劃方法的研究,在保證焊接過程焊縫點(diǎn)熔池處于水平或稍微下坡狀態(tài)前提下,提出了一種主從協(xié)調(diào)跟蹤的路徑規(guī)劃算法,以實(shí)現(xiàn)一臺(tái)機(jī)器人夾持工件不斷調(diào)整位姿滿足船形焊的要求,另外一臺(tái)機(jī)器人跟蹤焊縫曲線實(shí)施焊接.建立了協(xié)調(diào)系統(tǒng)數(shù)學(xué)模型,時(shí)間約束和空間約束,在此基礎(chǔ)上規(guī)劃了焊槍坐標(biāo)系和工件機(jī)器人的位姿;并以馬鞍形焊縫的焊接為研究對(duì)象進(jìn)行了兩個(gè)機(jī)器人的協(xié)調(diào)路徑規(guī)劃.并對(duì)該算法所規(guī)劃的結(jié)果進(jìn)行試驗(yàn)驗(yàn)證.結(jié)果表明,該算法可實(shí)現(xiàn)空間復(fù)雜曲線焊縫的連續(xù)焊接工作.
[Abstract]:In this paper, the coordinated welding path planning method of two robots is studied in view of the problem of space complex curve welding. The welding pool of weld points in the welding process is guaranteed to be horizontal or slightly downhill. A path planning algorithm for coordinated master-slave tracking is proposed to realize that one robot can continuously adjust the position and orientation of the workpiece to meet the requirements of ship-shape welding and the other robot tracks the welding seam curve to perform welding. Based on the mathematical model of coordination system, time constraint and space constraint, the coordinate system of welding torch and the pose of workpiece robot are planned, and the coordinated path planning of two robots is carried out by taking the welding of saddle weld as the object of study. The results of the algorithm are verified by experiments. The results show that the algorithm can realize the continuous welding of the spatial complex curve weld.
【作者單位】： 天津工業(yè)大學(xué)天津市現(xiàn)代機(jī)電裝備技術(shù)重點(diǎn)實(shí)驗(yàn)室;山西省電力公司電力開關(guān)廠;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51075299,U1333128)
【分類號(hào)】：TP242;TG409

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