Welding Robot Motion Path Optimization And Simulated Analysis

Welding robot has an important significance in improving production efficiency working environment and product quality. Recently, the study related to welding robot is becoming more and more important. The main topic of this paper is 6-DOF industrial welding robot which is common seen in industry. Combining the actual production process with the theory of welding robot, and with the help of virtual simulation and optimization of welding robot motion, we can improve production efficiency and product qualityThis paper aim at optimize 6-DOF welding robot motion path. Firstly, this paper presents a brief introduction about industrial robot field, including the composition classification and development of industrial robots. And illustrate the development trend of industrial robots, which to be as groundwork of this topic. Secondly, illustrate the structure description method of industrial robots in detail, including spatial description, coordinate system establishment of the robot, and positive solution and inverse solution of robot kinematic equation. Establish robot mathematical model by D-H method and optimize the motion path. Explaining the virtual prototype simulation process of welding robot, for example, the import of virtual prototype model of welding robot, pre-process step of the model in ADAMS, detection of welding robot model, is good preparation for next step of the simulation process. Further, with robot kinematics knowledge and virtual prototype technology, according to the welding process, based on welding requirements, combined with the virtual prototype simulation software ADAMS and ANSYS, this paper accomplished the motion simulation and verification of welding robot. Finally, based on the existing plant equipment to realize the simulation of welding motion trail, and detect the weld joint quality by destructive test.