Trajectory Planning And Motion Simulation Of Six Degrees Of Freedom Welding Robot

Robotics is becoming more and more widely used in today's rapidly developing economy and has been widely used in industrial production,medical,military,and service industries.Welding robot technology can ensure welding quality and accuracy,improve the working environment of workers and reduce the work intensity of workers,thereby improving production efficiency.At present,the research and application of welding robots in our country have a certain scale.The application scope is wide and the demand is large.The research of welding robots is of great significance to industrial production.Through the simulation analysis of the welding robot,the actual debugging time can be reduced,the movement trajectory can be optimized,the production efficiency can be improved,and the industrial production requirements can be satisfied.Firstly,the kinematics and mathematics foundation of the robot is introduced,the D-H method is described and the establishment of the robot linkage coordinate system is established in this paper.For the Kuka kr6 robot,the robot linkage coordinate system is established by the D-H parameter method,and the kinematics equations are established and solved.The positive and inverse kinematics of the robot are solved.The positive and inverse kinematics of the robot were simulated by Matlab to verify the correctness of the robot parameter model.Then the motion trajectory is planned according to the common lines,arcs,and spatial intersections in the welding task.The B-spline interpolation is used to simulate the motion in the Matlab and Adams environment.The three-dimensional model of the Kuka kr6 robot was established using three-dimensional modeling software UG,which was imported into the Adams virtual prototype to simulate the three-dimensional model of the robot.Analyze the changes of robot joint speed,acceleration and displacement under different motion trajectories,check whether the robot's three-dimensional model is reasonable and analyze the robot's motion stability.Finally,in order to better analyze the Kuka kr6 robot's motion,a joint motion simulation of Adams and Matlab is proposed.The robot joint response characteristics and trajectory tracking ability during the movement process were further studied.This study provides a theoretical reference for the further study of the Kuka kr6 welding robot and lays a certain theoretical foundation for the improvement and development of the Kuka welding robot platform.