| Welding in the industrial products manufacturing process occupies an important position.The quality of industrial products depends largely on the merits of welding.With the improvement of welding quality and efficiency requirements,the welding robot system can be used in industrial production because it can improve the production efficiency of welding,reduce the human cost,obtain better weld quality,and gradually begin to replace the traditional manual welding technology.This paper is based on a robot with 6 degrees of freedom series offset robot and a single axis rotating double column positioning machine,The coordinate system and the coordinate system of the robot are constructed respectively.By using the method of pose transformation and D-H,The D-H parameters of two devices are given.For 6 degree of freedom robot,the forward kinematics and the forward kinematics equation of the robot are given by using the derivation method.By comparing the MATLAB results and SolidWorks simulation results,the correctness of the kinematics equation is verified.On this basis,the paper describes the method of describing and solving the position and orientation of the solder joint on the space curve and the workpiece coordinate system,and a set of closed dimension chain.The coupling relation between the 6 degree of freedom series robot and the single axis rotary displacement machine is obtained.Thus,the general coordinated motion method of the target workstation is obtained.On the basis of this,the position and attitude of the welding torch and the solder joint are restrained,and the position and orientation of the welding machine to any spot are realized.In order to verify the correctness of the master-slave coordinated motion method,taking into account the plate-plate welding,the ball weld,intersecting weld is the more common straight-type weld.The discretization method is used to verify the correctness of the method by using the master-slave coordinated motion method. |
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