Research On Analysis For Accuracy And Reliability Of Arc Welding Robot Based On Virtual Prototype

Arc Welding Robot is an important component of industry, which are more extensive used in automotive application. Kinematic accuracy is an important indictor that measures the working performance. The analysis of pose error is the premise to achieve precision control. And it is the base compensation for its pose error and trajectory error. It is assurance that robot can normally work, be high precision operated. So the pose accuracy of the robot has vital theoretical and practical significance.In this paper, a6-DOF Arc Welding Robot as study objects. Through the establishment of the coordinate system for the robot linkage, the effects of structure parameters and motion parameter changes on the accuracy of robot pose have been studied.Taking account of the influence of structure parameters error, motion parameters error and clearances error, A parameterized virtual model is built of robot based on ADAMS that is a virtual prototyping simulation analysis software. Build dynamic linked library between external Normal distribution sampling function and ADAMS, this sampling function as a systemxtic function which effective resolve the problem that parameters error as random factors in simulation analysis. Comparing practical pose with theory pose, we analyse the influence of random errors on motion performance. We develop a motion simulation analysis module which includes establishing parameter model, performing simulation process, saving the simulation results and other series of loop operation for6-DOF Arc Welding Robot by using secondary development of ADAMS.Using ADAMS soft simulates6-DOF Arc Welding Robot taking various error factors into consideration. Making use of probability theory and statistics to judgment the motion reliability of the6-DOF Arc Welding Root within the given error, and use the theory of sensitivity analysis to determine the greatest influence factor for the pose error of6-DOF Arc Welding Robot. This analysis provides a guarantee of reliability for the robot design and installation.On the base of rigid robot analysis combin with the theory of Flexible robot analyse, we establish a Rigid-Flexible model of6-DOF Arc Welding Robot using ADAMS/AutoFlex module. Considering every linkage as a flexible body we get the most sensitive influencece linkage of6-DOF Arc Welding Robot.The6-DOF Arc Welding Robot analysis program system which includes processing of simulating data, calculating reliability of robot position and orientation within the given error, analysising of parameters sensitivity and so on is developed based on Matlab platform. Commissioning results show that the system is stabile, meet the performance demand, easy to operate.