White Car Body Side Outer Plate Assembly Robotics Modeling, Planning And Simulation

Robot welding workstation is one of the most important parts of body-in-white (BIW) welding and assembling line. robot welding workstation modeling, planning and simulation in virtual environment is a key research direction in BIW welding and assembling line. In this thesis, the robot-welding workstation of the body side outer plate assembly is researched. The key techniques, such as physical modeling, welding procedure planning, robot planning and simulation modeling, are studied emphatically. Based on the CAD and eM-Power software, we implement the robot-welding workstation modeling, planning and simulation.The physical modeling of the robot-welding workstation is discussed.. Based on the best workstation scheme, the CAD model of the welding fixture is completed. By the data exchange interface of CAD and eM-Power, geometry data of the CAD model is transferred into eM-Power, and the final physical model is obtained by the definition of kinematics chains and status.After the feature modeling of solder joint, the welding pose planning of welding gun and process grouping of solder joints, the welding procedure planning is investigated. Through the solder joints groups established, the mathematical model is largely simplified, which improves the calculation efficiency and reduces the calculation difficulty concerned. According to the applicability of algorithms, the greedy algorithm is designed to solve the welding order planning, and the result of simulation shows that this algorithm is rational and feasible.The robot placement and motion planning are also discussed. The robot placement can be obtained by the welding gun posture adjustment combined with eM-Power auto placement module. two feasible methods to solve the robot motion planning is given: cost function and numerical symbol. And the robot motion planning is implemented based on the latter.Finally, computer simulation is made to the modeling. SOP is established and used to simulation for interference analysis and production process analysis. The welding procedure planning and the robot planning are verified. Modeling, planning and simulation of robot-welding workstation based on visualization technology are stated in details in this thesis. The efficiency and quality of robot-welding workstation design is improved and the difficulty of designing is reduced based on the method proposed. It is valuable for designing robot-welding workstation.