【摘 要】
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为了满足焊接多种复杂工件的要求,克服单机器人焊接空间的障碍,本文研究了具有参数化设计的九自由度弧焊机器人离线编程系统。根据D-H法,建立了基于机器人、导轨和变位机组成
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为了满足焊接多种复杂工件的要求,克服单机器人焊接空间的障碍,本文研究了具有参数化设计的九自由度弧焊机器人离线编程系统。根据D-H法,建立了基于机器人、导轨和变位机组成的九自由度弧焊机器人系统的协调运动方程,采用分离变量法实现方程的求解。该系统解决了机器人、导轨和变位机之间的跟踪和协调关系,并满足焊接环境下对机器人运动的连续性和平稳性要求。
In order to meet the requirements of welding a variety of complex workpieces and to overcome the obstacles of single robot welding space, this paper studies the offline programming system of a nine-DOF robot with parametric design. According to the D-H method, a coordinated motion equation of a nine-DOF arc welding robot system based on a robot, a guide rail and a positioner is established, and a separation variable method is used to solve the equation. The system solves the tracking and coordination between the robot, the guide rail and the positioner, and meets the continuity and stability requirements of the robot in the welding environment.
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