| Industrial robots have an irreplaceable role in improving efficiency,stabilizing product quality,and improving the competitiveness of enterprises.Among them,welding robots occupy a very important position in various industrial robots.Welding is performed in places where the welding environment is harsh and welding quality requirements are high.The replacement of robots by humans will become an inevitable trend.Combining the advantages of traditional serial industrial robots and parallel industrial robots,this paper is based on a new type of multi-degree-of-freedom adjustable welding robot.The parallelogram mechanism can improve the strength of the mechanism,and it also has the advantages of compact structure.The new welding robot introduces the ball screw on the upper arm linkage of the parallelogram arm,which can realize the horizontal sliding of the robot end and adjust the position of the welding torch to ensure accurate positioning and fine adjustment of the robot positioning;in addition,the supporting cylinder is installed on the active arm of the parallelogram arm.Assist the robot,increase the rigidity of the robot,ensure the smooth operation of the robot,and improve the dynamic performance of the robot.The ultimate goal of researching and designing welding robots is to apply them to engineering practice.In order to achieve the welding quality and welding efficiency requirements of welding robots in actual production,it is necessary to perform the kinematic and dynamic performance of welding robots.analysis.The purpose of this paper is to study a new type of multi degree of freedom adjustable welding robot and study some necessary kinematics and dynamics problems in the process of designing welding robots.The main content includes:Firstly,this dissertation analyzes the mechanical structure of a new multi degrees of freedom adjustable welding robot.Based on this,the DH method is used to solve the positive kinematics solution of the robotic arm to study the pose of the end-effector of the manipulator.Paul inverse transform method solves inverse kinematics.According to the initial pose of the end manipulator,the angle changes of each joint are studied.Then the DH parameter model and the inverse kinematics model of positive kinematics are simulated and analyzed based on the robotics toolbox of Matlab platform.Secondly,the welding robot uses high-order polynomial to fit the joint space trajectory in trajectory planning,and uses Robotics Toolbox robot toolbox to carry out trajectory planning and simulation verification of the robot;meanwhile,it analyzes in the workspace.On the other hand,traversal method and boundary method were used to analyze the robots work space respectively and use Robotics Toolbox for simulation verification.Furthermore,according to the body structure of the welding robot,the second type Lagrange method is used to establish the rigid body dynamic model;the related structural parameters are calculated by using Creo software,and the robot dynamics is simulated and calculated based on the Robotic Toolbox robot toolbox of the Matlab platform to obtain the external driving force.The law of change.Finally,the finite element method is used to establish the dynamic model of the space beam element.Based on the mechanical characteristics of the welding robot,the finite element elastic dynamics model of the mechanism system is established.On this basis,the inherent characteristics and dynamic response are studied.Analyze,then use ansys workbench to analyze the modality of the welding robot's robotic arm,and use ADAMS to perform rigid-flexible coupling simulation of its mechanical arm to solve the dynamic performance of the end-execution components,in order to evaluate the welding robot welding accuracy in the welding process.It can provide theoretical basis for further optimizing the dynamic performance and light weight of the welding robot in the welding process. |
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