Research On Structure And Controls Parameter Optimization Of HHR6 Arc Welding Robot

After several decades of development, industrial robots are changed from just can completed some simple process to high-speed, high-accuracy, stability self-adaptive and self-learning. China began very early in the research and production of industrial robots. However, compared with some top robot company's similar products, the gap of performace index still exist. In this paper, we optimize a 6kg arc welding robot which designed by our lab from structure and control. The main contents include:Completed the buliding of virtual prototyping system and its kinematic and dynamic validation, realized the trajectory planning in virtual prototype system's cartesian space.Writing program according to the velocity, acceleration, inertia force global performance index and global performance fluctuating index, we got a series of atlases. After analyzing these atlases, we finished the size optimazation of robot. The simulation results indicates after size optimaztion the velocity and acceleration performance improved.Rigid-flexible coupling system which after size optimization was bulit by the help of ADAMS and ANSYS, we analyzed the vibration and stress under a extreme condition and found the weak points of structure. Base on that, we raised a optimazation proposal and simulated the new system, as a result, the aptitude of vibration decreased. Because the structural optimization has brought a slight increase on the weight of the robot, so we checked all the motor and reducer and found they still meet the requirements.Now many robots use TURBO PMAC2 card, in addition of powerful control function, it also provides user program area. this paper combines the fuzzy control, human simulating intelligent integral control algorithm and contraction-expansion factor as the form of PLC program which turn the robot system to be a PID self-adaptive system. At the same time, we add speed forward feedback and aceleration forward feedback which form a forward feedback+PID fuzzy strategy.The changes in error proved the control accuracy increased.