Research On Simulaiton Of7-DOF Welding Robot Based On MRDS

This dissertation focuses on the research of “Research on Simulation of7-DOF WeldingRobot Based on MRDS”, which is the subtask of National “863” Key Project of“Industrialization of robot modular features”. Through developing the simulation system of7-DOF welding robot, the purpose of research is to provide theoretical basis for7-DOF weldingrobot and control system.The mathematical model of a7-DOF welding robot was built using D-H method. The7-DOF welding robot’s forward and inverse kinematics algorithm was designed. On this basis,joint space and Cartesian space trajectory planning methods were given. Model of7-DOFWelding Robot was built using3D modeling software Blender. This dissertation researchedMRDS in the simulation of industrial robots, with concrete realization method, designed andcompleted of7-DOF Welding Robot3D simulation system.7-DOF Welding Robotmathematical model, kinematics algorithms and trajectory planning algorithm was simulated onthe computer. The three-tier technology was used in the simulation system.7-DOF WeldingRobot mathematical model, kinematics algorithms and trajectory planning algorithms waspackaged into the DSS module under MRDS. DSS module is composed of7-DOF WeldingRobot simulation software, using software engineering ideas. The algorithm of the wholesystem could be transplanted to the robot hardware platform, it show the practicality of the robotsimulation system. Using this method can discover problems in the robot design process, solvethe problems, and facilitate timely corrective to provide a basis for robot design andmanufacturing. At last, we have a summary and outlook of research status and developmentprospects.This dissertation provides the design method and theories of7-DOF Welding Robotsimulation system, which has a strong practical value for the research and application ofrobotics and control theory.