| In view of the problem of the coaling powered support welding process in domestic, which are low in production efficiency , great in labor intensity, not higher in welding quality and so on, one kind of six degree of freedom coordinate-joint type welding robot is designed, which is applied to the powered support welding production.The welding robot uses cantilever structure which is on a moving vehicle. The welding movement is realized through driving the vehicle and robot's joints translational and rotation motion to adjusted the position and posture of the welding torch. The welding robot kinematics analysis is achieved, coordinate transformation matrix using D-H method is built, and direct solution and inverse solution of the kinematics equation are deduced,which the foundation for the robot motion planning and trajectory control is established. The welding robot motion control system is developed by means of IPC and the high-performance PMAC as a control core. The system makes full use of the rich computer resources and the formidable real-time processing function of the PMAC,which can improve the robot control precision and real-time. The welding robot's software interface is developed by the Virtual Instrument of the LabVIEW and PMAC Panel Package and the dynamic link library (Pmac.dll). The robot movement is controlled by invoking and developing the PMAC card's interpolation function modules, PID control module and the PLC logic control module. The research shows that the design of the welding robot is rational, and structure is compact,and the robot is applicable to weld the complex structure. The dual-CPU open control system based on the IPC and PMAC greatly reduces the system development cycles.The software interface is friendly and the system is easy to debug,and the software provides rich and reliable control algorithm to the robot. The research achievement has established a good foundation for the further development of our country's powered support welding robot. |
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