【摘要】 轿车白车身装焊单元,常采用多机器人同时焊接,设备多、机器人工作空间环境复杂,依靠经验方法的路径规划工作量大且难以优化。通过对装焊单元进行分析,在采用商品化的建模与仿真软件对装焊单元进行建模的基础上设计了Probabilistic Roadmap算法自动规划点焊机器人的运动路径。通过对一单机器人装焊单元进行路径规划与仿真验证说明了规划方法的有效性。更多还原

【Abstract】 In BIW assembly and joint workstations, several robots are usually used to do spot welding job simultaneously. There are many devices and the robot ′s workspace is cluttered, the path planning is onerous and hard to be optimized by experiential method.On the basis of analyzing assembly and joint workstations, we model the workstation with commercial simulation software and apply “Probabilistic Roadmap" algorithm to implement the path planning for robot automatically. Through planning path for a single robot workstation and simulation verifi cation, show the validity of our path planning method.更多还原