The Research Of Some Optimization Techniques For The Welding Robot

Welding robot is widely used in automobile and parts manufacturing and engineering machinery,such as the welding operation.With the technological innovation,the application of welding robot is becoming more and more widely used.Welding robot provides a possibility for the welding automation and intelligent operation.At the same time our demand is becoming more and more high to the requirement of welding robot.Robot needs not only lightweight design,but also some intelligent algorithm,through which we can optimize the robot.The welding robot consists of two parts,robot body and welding equipment.This paper focuses on studying the ontology structure of the welding robot.The balance methods of the robot generally include additional weight,spring,cylinder,mechanical damping,etc.The spring balance has the advantages of its simple structure,easy to adjust the use.Spring balance cylinder mechanism is simple,thus spring balance cylinder is very appropriate for the welding robot.We have the relevant experiments and tests on the influence of the parameters for the robot.In order to improve the work stability and efficiency of industrial robots,we need deduce the unbalanced moment of industrial robots and influences of different parameters on the unbalanced moment balance cylinder.Combined with the instance,we use the 165 kg welding robot optimizition of the platform to examine the rationality of the optimization results.Using multi-objective optimization algorithm,not only makes the robot maximum torque is reduced,and the torque fluctuation is reduced,the structure of the robot and static characteristics has been improved.Forearm is an important component of welding robot.The improvement of the performance of the forearm has a big decision on the operator at the end of the space.We can design the forearm based on the dynamic and static properties of the welding robot.multi-objective particle swarm optimization of the forearm is based on parameters for the lightweight and the minimum problem of forearm force accordingly.Based on the finite element theory knowledge and the robot forearm force analysis,it is concluded that the optimized forearm in optimization has a very good effect;The big arm is connected with the base and forearm in robot,which lays a very important role in supporting the robot as a whole.On the basis of the mathematical established model,we need to optimize the parameters of the big arm.In view of the big arm load is larger and its structural load problem,the workbench software is used to build the driver optimization program with multi-objective optimization method for the large arm.ANSYS Workbench can put the modeling analysis and optimization of seamless docking,to reduce the interaction time of the modeling software and optimization software,reduce the development cycles.Through practical test and analysis,optimization of the practicality of multi-objective optimization on the big arm.Based on the analysis of statics and dynamics of the whole welding robot,we use MATLAB for the simulation of the three mode model of the welding robot.We make the model interface,through which people can intuitively view the welding robot motion state in each position.Through the trajectory planning algorithm simulation,so that we will verify the optimization result with the data of the joint of the joint angular displacement,angular velocity,etc.The simulation results will show that if the welding forearm optimization has a good effect to the robot movement,so as to verify the effectiveness of the optimization algorithm.Through the welding robot kinematics simulation of the dynamic characteristics of each joint of the specific values,the data will be compared with the optimization data,to verify the rationality of the optimization of welding robot.