【作者】 康艳军；

【导师】 朱灯林；

【作者基本信息】 河海大学 ， 材料加工工程， 2005， 硕士

【摘要】 本文分析了曲线焊缝焊接过程中弧焊机器人和变位机的运动协调关系。根据Denavit-Hartenber方法和机构坐标系统的变换原理,建立了基于KR350/2型机器人和RP2型旋转/倾斜变位机组成的同步工作站的运动学方程。研究了基于船形焊缝约束的机器人和变位机的运动学解耦模型,并根据机器人机构运动连续性要求,采用反变换方法对弧焊机器人和变位机的运动学方程进行了逆解析运算。 在以上研究的基础上,研究了弧焊机器人工作站的运动学规划及仿真系统原型的实现,分析了系统的开发环境、总体结构、数据结构等关键技术。通过机器人实体构型、信息定义提取、焊枪姿态的自动规划、工作站运动学规划和焊接过程仿真等模块,对典型焊缝(包括直线焊缝、平面圆弧焊缝、空间一般曲线焊缝)的焊接过程进行了模拟仿真,取得了正确的结果,为弧焊机器人和变位机系统的离线编程的进一步研究打下了良好的基础。更多还原

【Abstract】 In this paper, the coupled relationship of motion between arc-welding robot and positioner is analysed during the welding of spatial curve welding-line with respect to KR350/2 robot and RP2 positioner workstation. Kinematics equations of synchronous workstation of robot-positioner system are set in terms of Denavit-Hartenberg method and transformation of coordinate system, and the uncoupled kinematical model of robot-positioner system is also studied. Then, with regard to the requirement of running continuity of angle displacements of robot joints, the kinematics equations about welding robot and positioner system are solved by the method of inverse transformation.Based on the above research, the general scheme of kinematical analysis and simulation about arc-welding robot-positioner workstation is studied, including the development circumstances’s analysis , whole structure’s analysis and data structure’s analysis etc. Finally, three kinds of typical welding-line , including beeline welding-line , plane curve welding-line and spatial curve welding-line, are simulated successfully by using the modules of robot modeling, definition and picking-up of welding-line. The simulative result shows the above work will give a good groundwork for the next research of off-line programming.更多还原