Study On Performance Evaluation And Trajectory Planning Of Six Degree Of Freedom Welding Robot

As the application filed of 6-DOF joint robot is very extensive,the enterprises' requirements on the working performance and efficiency of the robot are becoming higher and higher.Studying the 6-DOF welding robot systematically from the aspects of the kinematics,dynamics,structural optimization and trajectory planning,this paper provides technical support for the development of robot design.Firstly,the kinematics model of the welding robot is established according to the D-H coordinate method,and the forward and inverse kinematics equation of the kinematics is derived;the dynamic model is established by Newton Euler method and the joint torque expressions is deduced.Then the virtual prototype model of welding robot is established in ADAMS software,and the kinematics and dynamics simulation analysis are carried out to verify the correctness of the dynamic model.Then the method to evaluate the dynamic performance of the welding robot by using the peak driving torque and energy consumption was proposed.The influence of the rod parameters on the dynamic performance of the welding robot is analyzed,based on which,the optimization target is set up,and the parameters of each rod are optimized synthetically by using the optimization algorithm.The optimized design reduces the peak driving torque and the energy consumption.Finally,choosing the optimal time of robot trajectory as the goal,adapting the five degree polynomial programming,taking the constraint of kinematics and dynamics in consideration,and using genetic algorithm and Nelder-Mead hybrid optimization algorithm,a continuous,stable and time-optimal trajectory is deduced.Through analyzing the three singular configurations of 6-DOF robot,giving the condition of singular region determination,the trajectory planning enables the robot to pass through the singular region successfully,so as to improve the working efficiency of the robot.