Kinematic Simulation And Machining Path Planning For Laser Welding Of Complex Surfaces

With the comprehensive promotion of China’s 2025 manufacturing power strategy,industrial robots have become an important part of automated production.While ensuring the quality of products,industrial robots can efficiently complete work tasks,improve the working environment of workers,and increase the product’s manufacturing efficiency.With the rapid development of the automotive industry,automated welding mechanisms represented by welding robots have been widely used in actual production.At present,path planning has become a research focus on the field of automated welding.In the body-in-white welding production,three-quarters of the points are completed by welding robots.The application of teaching and playback method will affect the efficiency of robot,and it requires repeated debugging of the robot.At the same time,there will be some problems such as unreasonable robot welding sequence.Therefore,it is urgent to introduce intelligent algorithms to plan a welding path with less working time and high production efficiency.This article selects the six-joint laser welding robot as the welding mechanism.The door is the welding object and the welding path is planned.The related research on laser welding of vehicle body,because laser welding process will be affected by many factors,so analysis of the BIW automated production process,focusing on the laser power density,laser defocusing,pulse energy and pulse width on the surface of the workpiece in the system and the laser spot welding process.KUKA company KR16 series industrial robot is selected as the model,using D-H method to create link coordinate system to study the robot kinematics and kinematics equation.Robotics Toolbox in MATLAB simulation software is used to simulate the inverse kinematics problem.O n the premise of the above research,the path planning of a certain robot in the welding station of the door is studied,and the ant colony algorithm is used to find the problem of the welding path.In order to improve the algorithm’s overall optimization ability,genetic operators are introduced to solve some defects of the algorithm.The initial welding path is calculated using MATLAB software program.The RO BCAD software is used to simulate the results of the work route of the MATLAB.The simulation process of software is explained in detail,and the welding path is simulated and analyzed by using the spot welding module in software.The robot interference and other problems in actual operation are analyzed and solved.The simulation rhythm is calculated,and the final path planning plan of welding robot in door welding operation is determined.