| 摘要: |
| 针对接管相贯线焊接的特殊性,开发了悬挂式接管焊接四自由度机器人,介绍了机器人机械本体结构;根据关节关系,利用D-H坐标建立了机器人运动学模型;由于两接管存在的尺寸误差、加工误差和焊接受热变形的原因,为了保障焊接质量,对焊接轨迹进行示教,并采用线性插值方法修正理论轨迹;根据运动学模型,采用SemMechanic进行运动学仿真.结果表明,焊接质量完全达到规定要求. |
| 关键词: 焊接机器人 运动学 示教 线性插值 |
| DOI： |
| 分类号: |
| 基金项目:中国石油化工集团-哈尔滨工程大学合作项目 |
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| Kinematics and track amendments of intersecting pipe welding robot |
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DU Hongwang1,2, WANG Zongyi2, LIU Shaogang1, ZHAO Yanan1
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1.College of Mechanical & Electrical Engineering, Harbin Engineering University, Harbin 150001, China;2.College of Automation, Harbin Engineering University, Harbin 150001, China
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| Abstract: |
| According to the welding particularity on the junctions of intersecting pipe, the 4 degrees of freedom suspended welding robot was developed and mechanical structure of the body was introduced. Based on the relation of the joints, the kinematics modeling was established with the method of D-H (Denavit-Hartenberg). To overcome the size error and processing error and welding distortion, the welding track was taught in order to ensure welding quality, and then theory track was amended by the linear interpolation. According to the kinematics modeling, the simulation was carried out with SemMechanic. The results of experiments show that the welding quality meet the requirements actually. |
| Key words: welding robot kinematics teaching linear interpolation |
