Research On Trajectory Planning And Motion Simulation Of Welding Robot With All-position Intersecting Line

With the continuous improvement of intelligence in the field of robot welding,when facing all-position welding with intersecting line curves in complex spaces,due to the large inertia of the welding robot and the limitation of the welding space,it is easy to collide between the mechanical arm and the weldment.So a reasonable trajectory planning for the welding robot is required to avoid collisions,and the rationality of the trajectory planning is verified through kinematic simulation.First of all,starting from the welding model of the intersecting line,a mathematical model of the obliquely offset intersecting line is established,and the attitude model of the welding torch during the welding process is analyzed.Then,the kinematics of the welding robot IRB1600 is studied,and the linkage coordinate system of the robot is established based on the improved D-H method.The forward and inverse kinematics of the robot are solved in detail,and the working space of the robot is analyzed.Through the transformation equations of the coordinate systems of the simultaneous welding system,the transformation matrix of the robot end coordinate system relative to the base coordinates is obtained.Secondly,in order to solve the problem that the welding robot is difficult to complete the collision-free welding for the intersection line at one time,this article analyzes the selection of the welding starting point,so as to carry out collision-free trajectory planning for the full-position intersection line welding robot.In order to complete collision-free continuous welding,the objective function of welding starting point is established,and the selection of the optimalstarting point is completed based on the constraint function method.Based on the selection of the welding starting point,the robot's collision-free welding can be achieved by adjusting the welding torch's attitude.The robot's joint movements in various attitudes of the welding torch are optimized,with the minimum amount of movement of each joint as the optimization goal.The robot avoids singular configurations and guarantees movement.Stationarity is used as a constraint condition,and the joint motion is optimized by using a virus evolutionary genetic algorithm to solve the optimal joint motion trajectory.Through simulation and comparison analysis,the optimized joint trajectory motion is more stable and invalid motion is reduced.Finally,the motion simulation of the optimized joint trajectory is verified.Based on ADAMS,a full-position intersecting line welding system is constructed,and the optimized joint trajectory is used as the robot drive to perform intersecting line all position welding.Experiments show that the robot can achieve collision-free continuous welding and ensure the stable operation of the welding gun,which meets the expected motion planning goals,Thus verifying the reliability and rationality of the trajectory planning of the all position intersecting line welding robot.