【摘要】 随着机器人工业化及智能化的快速发展，焊接机器人在建筑、机械等领域中广泛应用，而机器人的运动性能和轨迹规划能力直接影响焊接的质量。针对该类问题，结合串联机构和并联机构的特点，设计了一种新型6自由度串并混联焊接机器人机构。运用标准D-H模型描述机器人相邻连杆之间的关系，应用Matlab Robotics工具箱对机器人建立运动学模型，验证了机器人连杆参数的正确性，并进一步计算了机器人的工作空间。同时，采用带抛物线过渡的梯形函数规划混联焊接机器人末端执行器，提出多目标轨迹优化方案，利用粒子群优化算法对时间参数进行优化，求解满足焊接机械臂末端定位精度的最优时间参数。仿真结果表明，优化后的轨迹提高了混联焊接机器人运行的稳定性及定位精度，为进一步开展机器人的振动分析和控制研究奠定了理论基础。更多还原

【Abstract】 With the rapid development of robot industrialization and intelligence, welding robots are widely used in construction, machinery and other fields, and the motion performance and trajectory planning capabilities of robots directly affect the quality of welding. Aiming at this kind of problem, combined with the characteristics of series mechanism and parallel mechanism, a new type of six-degree-of-freedom(6DOF)series-parallel hybrid welding robot mechanism is designed. The standard D-H model is used to describe the relationship between the adjacent links of the robot, the kinematic model of the robot is established using the Matlab Robotics toolbox, the correctness of the parameters of the robot connecting rod is verified, and the working space of the robot is further calculated. At the same time, a trapezoidal function with parabolic transition is used to plan the end effector of the hybrid welding robot, and the multi-objective trajectory optimization scheme is proposed. The particle swarm optimization algorithm is used to optimize the time parameters, and the optimal time parameters that meet the positioning accuracy of the end of the welding machine manipulator are solved. The simulation results show that the optimized trajectory improves the stability and positioning accuracy of the hybrid welding robot, and lays a theoretical foundation for further vibration analysis and control of the robot.更多还原