Study On The Structure And Trajectory Planning Of Six Degree Of Freedom Welding Robot

With the "Made in China 2025" strategy,industrial robotics have quickly developed with policy support.The existing high-end welding robots on the domestic market basically rely on foreign imports.There are pain points in hardware maintenance and software upgrades.There are very few welding robots that are fully self-manufactured.The structure and trajectory planning of the welding robot are very important research contents.At present,the research of welding robot structure is very mature,so only a few improvements need to be made.The focus of this paper's research is on trajectory planning.The following work has mainly been done:Domestic and foreign scholars have introduced related research on the kinematics,dynamics,and trajectory planning of welding robots.The configuration characteristics of six-degree-of-freedom tandem robot are discussed.Solidworks software is used to perform three-dimensional modeling and assembly simulation of the main components of the welding robot.Some basic theoretical knowledge is introduced,and the robot's pose description and coordinate transformation are described in detail.Based on the D-H parameter method,the joint coordinates and parameters of the mechanism are defined,the kinematics equation of the robot is established,and the correctness of the established equation is verified by MATLAB.Using MATLAB to simulate the workspace of the welding robot,the simulation results are used to analyze the inadequacies of the Monte Carlo method.Aiming at the defects of the method,an optimized composite method was proposed.The principle of the composite method and the simulation model were introduced.The simulation results of the two methods were compared and it was proved that the composite method could solve a more accurate work space.Trajectory planning simulation is performed based on a point-to-point straight line,and the trajectory transformation in Cartesian space and joint space is realized.In order to simplify the calculation of the inverse kinematics solution,a three-spline spline algorithm based on the rotation theory is used to optimize the trajectory of the robot.The upper part of a car door that needs to be welded is selected,the weld curve is extracted and the curve equation is calculated.The software SolidWorks and ADAMS are used for the joint simulation,the virtual prototype technology is used to draw thetrajectory planning curve,and error of the operation of the end effector is verified in the controllable range.The trajectory planning of the welding robot studied in this paper can satisfy the most basic point-to-point linear motion and is also suitable for practical applications.It is of great significance to the extensive application of welding robots in the domestic market.