An ACO For The Path Planning And The Kinematics Analysis And Simulation Of The Six-Degree-Of-Freedom Spot Welding Robot

In modern industrial processing site, a part of the welding process have to go through 1000-2000 spots, each spot welding robot assigned a large number spots, how to arrange the welding robot welding path planning has become a welding position research priorities.The current path planning of welding the main planning and design personnel by virtue of their own experience, refer to the product design process documentation and in the past, a rough machining path planning the robot welding, and then teach programming through on-site verification of the planning path. This planning method is slow, taking up a lot of production time, and it is difficult to ensure that planning scheme is reasonable.In this thesis, set Chery's QH-165 robot as a model of industrial spot welding robot, the establishment of D-H parameters of the robot to analyze the kinematic model of the robot and its own characteristics with industrial welding, proposed ACO (Ant Colony Optimization) being used in three-dimensional trajectory optimization; described in detail in three-dimensional trajectory optimization ACO concrete implementation, and application of the preparation of the corresponding three-dimensional MATLAB trajectory optimization program; On this basis, through the establishment of the VRML robot 3-D model, the KEBA's KeMotion robot control system simulation software of the robot motion simulation of welding on the planned path verification and optimization.