Research And Simulation Analysis On Kinematics Of QJ-1 Welding Robot

Basic research and simulation analysis on kinematic problems are discussed based on the QJ-1 welding robot researched and developed independently by Zhejiang University.This thesis includes six chapters, and the contents are as follows. The first chapter elaborates the historical development and application situation for industrial robot and welding robot. The compositions, characteristics and trends of welding robot system are introduced with an emphasis.The second chapter discusses in detail the mathematical basis for robot kinematics, gets a robot kinematics general equation, establishes mapping relation between robot Cartesian space and joint space and provides useful mathematical tools to robot kinematics research.In chapter 3, robot kinematics model is created by D-H coordination system. Based on the results of the modeling, the robot link parameters are set with the robot structure and the robot kinematics equation is acquired. After acquiring the changes to the scope of joint angles, three different robot workspaces are obtained.In chapter 4, an approach to the inverse kinematics closed-form solution is proposed based on the orthogonal character of the rotation sub-matrix in a transformation matrix. The experimented results with QJ-1 welding robot by VC++ program language illustrate that the proposed algorithm can solve the inverse kinematics problem in only 0.087ms, which is faster than traditional inverse transformation method on the same experiment platform, and the simulation welding results on planar condition also prove the effectiveness of the proposed algorithm. The proposed algorithm can be applied to 6R robot on-line control with a strong real-time system.Then the 3D graphics simulation system for QJ-1 welding robot kinematics is simulated with the Robotics Toolbox of the Matlab in chapter 5. Based on the simulation, we observe the motion of the robot's joints and obtain all kinds of data we need, further approve the accuracy of series conclusions for analysis and research of robot kinematics.The last chapter generalizes the whole thesis and foresights the next step of theresearch.