The Research Of Industrial Welding Robot Simulation Based On Virtual Prototype Technology

Welding robot is one important type of the entire robot. Especially to improve the bad work environment, product production efficiency and product quality has a great significance. Therefore, the research in the field of industrial robot is very necessary. In this paper, the object of study is mainly aimed at industry of six degrees of freedom robot welding. Combine the theory of industrial robots. Based on virtual prototype technology of the welding robot, we made a series of simulation research. Also, we seriously analysis the method and strategy.Firstly, this paper made a simple overview of the general direction. Include the definition of robot, system structure, characteristics and development trend, and so on. At the same time, we did a brief introduction to the virtual prototype technology. For expansion of the research work made a foreshadowing.Secondly, a detailed description of the representation method of robot structure.We had made thorough analysis in this article about the theory of the robot technology, including the establishment of the robot coordinate system and description method of the space, the robot kinematics mathematical solution method, and so on. Using D-H modeling method, established the mathematical model of welding robot. At the same time, the trajectory planning method for industrial robot, mainly is the Cartesian space trajectory planning and method of joint coordinates space in polynomial interpolation and parabola interpolation. The correctness of these trajectory planning method and the practicability of the method was verified by experiment.Thirdly, Detailed explanation of the process of establishing the virtual prototype of welding robot. Such as:before treatment settings, prototype model of ADAMS working environment in the context of the ADAMS editor, the prototype testing and inspection etc. To edit a welding robot model import, ready for the next step of the robot simulation experiment.Finally, using industrial robot technology and virtual prototype technology, the process of welding robot arc welding is simulated, and the post-processing module ADAMS/PostProcess on robot kinematics and dynamics performance parameters is analyzed. At the same time, the simulation function of ADAMS and MATLAB, and conducted a preliminary study on the control of welding robot.