Trajectory Planning And Kinematics Analysis Of Welding Manipulator For Steel Mesh

As a new wall material, perlite sandwich board is widely used in structures of the non-bearing walls and fire channels with fire-protection, because it has many advent -ages such as light weight, heat insulation, sound insulation, high ability to resist vibration, convenient, low cost, etc. In order to make the production chain high-automation, this paper analyzes the final process of perlite sandwich board's original production chain, welding the steel mesh. Moreover, with the requirements of the actual work environment this paper achieves the welding robot's structural design, its kinematics, its trajectory planning and simulation.Work done in this paper is as follows:(1)According to the production requirements, this paper selected the articulated manipulator, designed transmission system, and chose the drive. Finally, the structure of the welding robot has been designed, and the model has been established in the modeling software Pro-E.(2)With the application of Denavit-Hartenberg method, the kinematic model of the robot is established. Based on the links'coordinates system, the equations of the robot's positive and inverse kinematics have been got by use of the homogeneous transformation; meanwhile, taking advantage of parameters when the robot is under a specific location, these equations can be verified.(3)This paper analyzes the working area for welding operations, and then the mathematical model can be got. According to the mathematical model, the main parameters of the links will be designed by a method of constrained and nonlinear optimization.(4)The safety path of the manipulator and the sections of the track are determined. A certain trajectory planning under the constraints is analyzed, and the cubic polyno- mial curve is described which can be used for studying the equations of the robot's track.(5)This paper makes some researches on the dynamic equations of the robot. These equations can be used for calculating the dynamic control and driving forces which are required to drive each joint with a certain speed or acceleration. (6)The model of the robot is built in the ADAMS, and then constraints and drives are added one by one. The simulation can tell us whether the trajectory of solderer on the sandwich board is expected in accordance with the welding operation. At last, the kinematic parameters of joints can be measured by the tools and the post-processing.