Six Degrees Of Freedom Welding Robot Off-line Programming System Research

HP-6welding robot, which has six degrees of freedom, can be used by teaching and off-line programming, then plan the weld trajectory and generate the robot moving code. However, the off-line programing software-Motosim EG is accompanied by some of the problems:1. Off-line programming software EG as the single-user system is not used widely.2. It is not provided with the capacity of functional form on the track directly off-line programming.3. The path planning on the pure geometric meaning can lead to joint drive system situation being deteriorated, even the risk of damage.In order to solve the above problems, this paper is researched from the following areas:1) Six degrees of freedom welding robot model in ADAMS simulation platform is established. HP-6robot is manipulated to move along any given function of a complex space curve, and the torch point of cusp displacement is exported.2) The robot work trajectories code is directly generated by the ADAMS kinematics simulation process, combined with dynamics analysis to identify and measure the peak load point of the robot running trajectoris and take appropriate calm measures.3) The factors affecting positioning accuracy of robot hand is analyzed, and trajectory error compensation method is discussed.4) The data exchange channel between the computer and the robot is established by using C++libraries. The functions, calling the start of the ADAMS software, reading the simulation data of joint, converting the pulse signal and generating the robot language program, can be achieved.The innovation of this paper is developing a more perfect set of offline programming system that can bring about calling the start of the ADAMS software platform and accomplish trajectory dynamics analysis. It implements the combination of the offline programming on the pure geometric meaning and robot kinematics and dynamics, and generates the the joint pulse value off-line program of torch tip trajectory. With the theory of error, this paper analyze the robot hand position accuracy between virtual model and real robot, the factors affecting the positioning accuracy and compensate for those error.In summary, in this paper, the route taken make the results of such research can go beyond the limitations of HP-6robot and has a broader applicability.