【摘要】：針對(duì)箱型鋼結(jié)構(gòu)施工安裝現(xiàn)場(chǎng)的環(huán)縫焊接問題,設(shè)計(jì)了一種直-弧組合軌道式焊接機(jī)器人系統(tǒng)。對(duì)該系統(tǒng)進(jìn)行了基于標(biāo)準(zhǔn)D-H模型和Craig修正模型的運(yùn)動(dòng)學(xué)對(duì)比分析,總結(jié)了各模型的運(yùn)動(dòng)學(xué)建模和求解過程的區(qū)別及適用性。針對(duì)箱型鋼結(jié)構(gòu)環(huán)縫焊接的焊槍運(yùn)動(dòng)軌跡規(guī)劃,提出綜合軌跡規(guī)劃法(CTPM)。該方法使機(jī)器人以最少的自由度在箱型鋼結(jié)構(gòu)環(huán)縫焊接時(shí)實(shí)現(xiàn)焊槍任意空間位姿調(diào)整功能,使得針對(duì)箱型鋼結(jié)構(gòu)直角焊接的軌跡規(guī)劃更加簡便高效。計(jì)算和仿真結(jié)果表明:所設(shè)計(jì)的機(jī)器人系統(tǒng)能夠滿足箱型鋼結(jié)構(gòu)環(huán)縫焊接的功能要求,綜合軌跡規(guī)劃法能夠?qū)崿F(xiàn)在箱型鋼結(jié)構(gòu)環(huán)縫焊接時(shí)對(duì)焊槍空間位姿的有效調(diào)整。
[Abstract]:In order to solve the problem of annular joint welding in the construction and installation of box steel structure, a straight-arc combined rail welding robot system is designed. The kinematic comparison and analysis of the system based on the standard D 鈮，

本文編號(hào)：2508322