| Welding robot can greatly improve the working condition of workers, improve the welding quality and strengthen the competition of enterprises. In this thesis, based on the dedicated arc-welding robot MOTOMAN-EA1400N, the trajectory planning and simulation of the6R welding robot are deeply researched. The main work of this thesis is as follows:(1) Based on the structure and parameters of the6R welding robot, its kinematic model is established by using the D-H parameters method. The forward kinematic equation of the6R welding robot is derived by transforming matrix. A way to avoid multipling lots of inverse matrixes for solving the inverse kinematics is proposed. The angle expressions of the six Joints are obtained.(2) The Jacobian Matrix of the6R welding robot is obtained by using the differential transformation method. Based on the Monte Carlo Method, the robot’s workspace is drawn in the MATLAB software. In addition, the singular configuration of the6R welding robot and the method of avoiding the singular configuration are also researched.(3) In joint space and Cartesian space, the trajectory planning of the6R welding robot is researched, including the polynomial interpolation in joint space and the method of generating linear trajectory and circular trajectory in Cartesian space. Especially generating the swing trajectory of arc welding robot is deeply researched.(4) The virtual prototype model of the6R welding robot by using the Pro/E software and the ADAMS software. The model is carried on forward kinematic simulation and the end-actuator’s displacement diagram is obtained. The end-actuator’s linear trajectory and circular trajectory are also simulated and the the six joints’angle curves changing with time are obtained. |
PDF Full Text Request