Economical Welding Robot Modeling And Structure Optimization

Welding technology as one of the most important process of manufacturing technology, it is widely used in machinery manufacturing, aerospace, construction, transportation, oil, chemical industry and medical industry,It has incomparable role in the field of modern industry. Welding automation of production is the direction of future efforts to development, manufacturing and improve the work efficiency, reduce the operator's work strength, the most effective way to ensure the reliability of the product quality. Because the common welding robot system is more expensive, so the application in small and medium-sized enterprises is restrained.therefore, many enterprises still have quite a number of enterprises to adopt the traditional manual welding process, which makes the processing of the quality of the product is not good, work efficiency is obviously not high.This article is in innovation projects of GuangXi graduate education "economical welding robot modeling and structure optimization", under the support of robot automatic welding system, in view of the dashboard stent in Japan OTC FD- B4 welding robot produced by our company as the research object, the following research work:First, introduces the architecture of the welding robot, and discusses the reference frame and the position vector and related concept, describes the welding robot D-H method is applied in the kinematical theory, and using the method and the parameters of the connecting rod with homogeneous transformation equation of the welding robot kinematics equation, and solving the welding torch for posture in the space, using Matlab software to solve the welding robot joint torque, and the ontology analysis between the connecting rod, find out the ontology of the relation between structure and motion parameters.Then,the whole welding robot, the big arm respectively carried on the static stress analysis and modal analysis, get the stress and strain of cloud in the first seven order modal figure, locate for optimization and topology optimization are proposed according to actual working condition of the improved method; Design simulation experiment device of the actual production conditions, the measured stress and strain of key parts of the main, verifies the correctness of theoretical analysis and optimization. Compared with the optimized welding robot, it is not only increase of stiffness and strength, but also achieve the lightweight.Last,Combining with the actual production, for low cost automation welding system method is used to replace traditional manual generation method, simulating the actual production conditions, theoretical analysis combined with the actual production in together, makes the result more guiding significance; Analysis, from the Angle of the topology optimization of the whole robot system structure and layout, artifacts, such as systematic, holistic optimization, results of the analysis, design and manufacture the overall performance of high economical system has great practical significance, also is the main innovation point of this study.