Path Planning And Simulation Of Industrial Robot For Body Welding

At present,with the rapid development of automation technology,automation equipment,with industrial robots as the core,has been spread to all fields of mechanical production,especially to welding field.Industrial robots,with the characteristics of stable and reliable welding quality,high work efficiency,and repeatability,have been favored by many manufacturers.This is especially true in automobile manufacturing.The quality of the welding in white body plays a vital role in the improvement of the stability of the vehicle.There are more than two-thirds of the welding spot are completed by the industrial robots.However,because of the high level of automation,the traditional experience of processing methods cannot meet the needs of the robot,and sometimes,there are occasions of unreasonable sequences of robot work,which could seriously affect the efficiency of the robot welding.Therefore,the focus of current study is how to plan a path to save welding time and improve production efficiency while at the same time,ensuring the quality of the welding.This paper takes the working process of industrial robots in the body welding as the object of study,and conducts research on the path of industrial robot spot welding.The movement path of industrial robots could be affected by many factors,including welding technology,movement of the robot,and interference of the robot and so on.Therefore,this paper first analyzes the structure of the white body and the white body production process to which industrial robots are applied.The emphases of this study are composition of wielding systems and the influencing factors in welding process.Based on the study of the position of industrial robots,the D-H method for constructing robot coordinate systems and kinematic equation,and the Robotics Toolbox toolbox in MATLAB software for stimulation,the author took door welding in the manufacture of white body as an example,and conducted path planning for one of the robot stations.As a result,the author made a systematic plan for path planning,which converts path planning into mathematical language so as to build mathematical model of path planning.Through the study of path planning algorithm,the author used improved ant colony algorithm(the combination of ant colony algorithm and genetic algorithm)to find out the path planning solution,and applied MATLAB software to write the program to get the initial welding path.Then ROBCAD software was used to simulate the path planning results to get the detailed simulation process.Welding path was established by the spot welding module in ROBCAD software,interference problem of the robot was analyzed,the solution to the problem was raised,and the path planning plan in body welding work was ultimately determined for industrial robots.