【作者】 林君；

【导师】 殷树言；

【作者基本信息】 北京工业大学 ， 材料加工工程， 2003， 硕士

【摘要】 根据弧焊机器人在工业领域的应用现状和发展趋势，弧焊机器人离线编程技术是应当重视的新技术之一。本文利用三维图形仿真技术，对弧焊机器人离线编程及其技术实现进行了研究。 建立基于CAD的弧焊机器人与变位机的几何模型和运动学模型是图形仿真和离线编程的基础。在Solid Edge软件平台上建立了弧焊机器人与变位机的三维CAD模型，并给出其正解、逆解算法。 焊缝位姿信息的提取是实现图形环境下离线编程的关键，在获得待焊工件的焊缝位姿信息后，才能进行弧焊机器人工作路径规划。首先，建立了焊缝位姿几何模型并给出了相关定义。然后，针对不同的焊缝提取焊缝信息位姿矩阵序列，依据焊接工艺的要求对获得的焊缝信息位姿矩阵序列进行编辑。 为了按焊接工艺习惯描述焊接位置和焊枪姿态，本文引入了适合弧焊工艺特点的焊接位置与焊枪姿态的数学模型，即用焊缝倾角、焊缝转角和焊缝偏角表示焊接位置，用焊枪行走角、焊枪工作角和焊枪自转角表示焊枪姿态。弧焊机器人工作路径规划包括两方面的内容：一是以焊缝转角和焊缝倾角为描述参数，规划焊缝使之处于平焊或船形焊或小角度的下坡焊位置；二是以焊枪工作角和焊枪行走角为描述参数，规划焊枪的姿态，并且调整焊枪自转角使机器人工作时处于较优的姿态。利用离线示教技术规划两段焊缝之间的过渡轨迹，以及对发生碰撞的轨迹进行焊接位置和焊枪姿态的修改调整。 在三维CAD模型的基础上，研究了弧焊机器人三维图形仿真技术。三维图形的运动仿真逼真再现了弧焊机器人工作时的运动过程，以便检查路径规划的正确性。应用最小距离法和交集法，实现了弧焊机器人运动过程的碰撞检测功能，能方便选择被检测的对象进行碰撞检测。 针对两个实际工件，进行了基于三维图形仿真的弧焊机器人离线编程技术实验。实际的焊接结果表明：与在线示教编程相比，基于三维图形的离线编程能获得更优的焊接位置与焊枪姿态，使机器人系统运动平稳，保证了优良的焊接质量，同时提高了编程效率。更多还原

【Abstract】 According to the application condition and development direction of arc welding robots in industry, off-line programming for arc welding robots is one of the new techniques which are paid importance to. With the technology of 3D graphics simulation, off-line programming for arc welding robots has been studied in this dissertation.The geometrical models of robot and positioner based on CAD and their kinnematics are basic of off-line programming and graphics simulation. The 3D CAD models of the arc welding robot and positioner have been modeled in Solid Edge software. Their kinnematics have been resolved.Extracting pose information of welds is key technology of off-line programming in graphic environment. Path planning of arc welding robot can be made after pose information of welds is extracted. At first, the geometric model of weld has been made and been defined. The’ pose information of welds has been extracted from the CAD model of workpiece. The information can be edited according to weld technology.The mathematical models are introduced to describe weld position and weld torch orientation according to welding process custom. Weld position is characterized with tilting angle, deflecting angle and drifting angle of weld. Weld torch orientation is characterized with traveling angle, working angle and rotating angle. Path planning of arc welding robot includes below two. First, weld is planned in the fillet position described with tilting angle and deflecting angle. Second, pose of weld torch is planned described with traveling angle and working angle. The pose of robot has been made better through adjusting rotating angle of weld torch. The path between two welds has been planned through off-line teaching.Graphics Simulation has been researched with 3D models. Motion simulation reappears vividly the process of arc welding robot running,that can check the correctness of path planning. The technology of interference check has been researched.Aimed at two actual workplaces, experiments of arc welding robot off-line programming based on 3D graphics simulation have been made. Comparing with the teaching-playing programming, arc welding robot off-line programming based on 3D graphics simulation is able to improve the quality and the efficiency of robot arc welding.更多还原