【摘要】：機(jī)器人焊接技術(shù)己成為制造業(yè)自動(dòng)化的主要標(biāo)志。在焊接生產(chǎn)中使用機(jī)器人控制技術(shù)可以提高生產(chǎn)率、改善勞動(dòng)條件、保證焊接質(zhì)量、實(shí)現(xiàn)批量產(chǎn)品的焊接自動(dòng)化。本文圍繞六自由度弧焊機(jī)器人的擺動(dòng)焊接,主要研究?jī)?nèi)容有六自由度弧焊機(jī)器人運(yùn)動(dòng)學(xué)分析、空間圓弧擺焊的軌跡生成和焊槍姿態(tài)規(guī)劃,正弦軌跡插補(bǔ)算法及其速度規(guī)劃。主要工作如下:(1)對(duì)六自由度弧焊機(jī)器人的運(yùn)動(dòng)學(xué)進(jìn)行了研究。本文以歡顏HYHJ-602六自由度弧焊機(jī)器人為研究對(duì)象,采用D-H法建立了機(jī)器人的連桿坐標(biāo)系,進(jìn)而推導(dǎo)出機(jī)器人的正運(yùn)動(dòng)學(xué)和逆運(yùn)動(dòng)學(xué)公式,在Qt Quick軟件中搭建了機(jī)器人的模型,開發(fā)了運(yùn)動(dòng)學(xué)的程序,并對(duì)機(jī)器人的正逆運(yùn)動(dòng)學(xué)進(jìn)行了仿真分析,驗(yàn)證了算法的正確性。(2)對(duì)擺動(dòng)焊接軌跡生成的方法進(jìn)行了研究。研究了以正弦擺為基礎(chǔ)的直線角焊縫、空間圓弧焊縫、圓弧角焊縫和拋物線焊縫擺焊軌跡生成的方法,推導(dǎo)了擺焊軌跡插補(bǔ)點(diǎn)坐標(biāo)值的計(jì)算公式。在Qt Quick軟件中進(jìn)行了運(yùn)動(dòng)仿真,將擺焊軌跡的上的插補(bǔ)點(diǎn)通過(guò)運(yùn)動(dòng)學(xué)逆解轉(zhuǎn)換為機(jī)器人關(guān)節(jié)角,得到的關(guān)節(jié)角作為機(jī)器人運(yùn)動(dòng)的根據(jù),通過(guò)運(yùn)動(dòng)仿真驗(yàn)證了擺焊軌跡的正確性。(3)研究了焊槍的姿態(tài)規(guī)劃方法。研究了基于單位四元數(shù)的姿態(tài)插補(bǔ)的算法,使用MATLAB軟件的SIMULINK模塊以及Qt Quick軟件對(duì)三種姿態(tài)插補(bǔ)方法進(jìn)行了仿真對(duì)比,仿真結(jié)果表明,在擺焊過(guò)程中單位四元數(shù)的姿態(tài)規(guī)劃方法比其他兩種方法插值效率更高、插值更加容易、姿態(tài)過(guò)渡更加平滑。(4)研究了擺焊軌跡的速度規(guī)劃方法。以正弦擺作為研究對(duì)象,提出一種高精度的正弦軌跡插補(bǔ)算法。進(jìn)一步,對(duì)擺焊軌跡進(jìn)行了速度規(guī)劃,研究了S型加減速規(guī)劃的算法,并將S型加減速規(guī)劃應(yīng)用到了擺焊軌跡中。在QtQuick軟件中進(jìn)行了運(yùn)動(dòng)仿真,仿真結(jié)果驗(yàn)證了算法的正確性。對(duì)擺動(dòng)焊接速度規(guī)劃進(jìn)行了實(shí)驗(yàn)分析,采用歡顏HYHJ-602弧焊機(jī)器人作為實(shí)驗(yàn)設(shè)備,將編寫好的程序集成到機(jī)器人中,通過(guò)實(shí)驗(yàn)驗(yàn)證了擺動(dòng)焊接插補(bǔ)算法和速度規(guī)劃算法的正確性。本文完成了對(duì)六自由度弧焊機(jī)器人的運(yùn)動(dòng)學(xué)、擺焊軌跡規(guī)劃和速度規(guī)劃的研究,其中,關(guān)于擺動(dòng)焊接軌跡規(guī)劃的研究成果為弧焊機(jī)器人未來(lái)的發(fā)展提供了一種可借鑒的思路。
[Abstract]:Robot welding technology has become the main symbol of manufacturing automation. The use of robot control technology in welding production can improve productivity, improve working conditions, ensure welding quality and realize welding automation of batch products. This paper focuses on the swing welding of six-degree-of-freedom arc welding robot, including kinematic analysis of six-degree-of-freedom arc welding robot, trajectory generation and welding torch attitude planning of spatial arc swing welding, sinusoidal trajectory interpolation algorithm and speed planning. The main work is as follows: (1) the kinematics of six-degree-of-freedom arc welding robot is studied. In this paper, taking Huanyan HJ-602 six-degree-of-freedom arc welding robot as the research object, the connecting rod coordinate system of the robot is established by using D 鈮，

本文編號(hào)：2499508