Path Planning And Simulation Of Spot Welding Robot For White Body

Robot has been widely used in manufacturing industry.Spot welding usually needs to complete many welding joints in the welding process.In most cases,the path planning of welding robot is based on Teaching Engineering experiments.Engineers usually need a lot of time to get the required welding path.Sometimes it is difficult to find the best path for spot welding robots.Especially when the number of welding points is huge,the result of path planning varies from person to person and lacks mathematical basis.Therefore,the path planning of welding robot has become one of the key technologies to be solved in this field.In order to improve the automation level of spot welding on the side of the body-in-white,this paper completes the analysis of the important equipment and technology of spot welding workstation,the derivation and calculation of robot kinematics,the improvement of optimization algorithm,path planning and the construction of its simulation workstation,etc.The main contents are as follows:Firstly,according to the production process of body-in-white,three research objects of welding path planning are determined and analyzed:parts,process and manufacturing resources(PPR),and the model of main spot welding equipment is determined.The mathematical model of welding path planning is refined,and the overall technical route of this paper is given on the basis of considering various engineering factors and core algorithms.Secondly,the forward kinematics of spot welding robot is studied in detail.The D-H method is used to establish the robot linkage coordinate system,the kinematics equation is derived,and the robot model is established by MATLAB,which verifies the correctness of kinematics modeling.The reachable workspace of the robot is calculated and analyzed,which provides a theoretical basis for the planning and control of the robot.Thirdly,the strategy of combining particle swarm optimization and ant colony algorithm for path planning of welding line is put forward.The initial parameters of ant colony algorithm are trained by using the characteristics of particle swarm optimization,so that the initial parameters of adaptive ant colony algorithm can be obtained according to specific tasks.The steps of implementing the algorithm are explained in detail.A lot of experiments prove the advantages of the improved algorithm.The user interface of spot welding path planning software is developed,and the scheme of path planning is obtained by using the software.Finally,on the basis of designing a three-dimensional model of parts and resources,a single robot welding workstation is built by using the digital manufacturing software DELMIA.The tasks and corresponding actions of robots and welding pliers are defined.The workspace of robots during welding operation is analyzed,the layout problem of robots is solved,the interference problem is solved,and the path rule is finally generated.The planned trajectory,the spline curve of joint motion of the robot are analyzed,and the feasibility of the path planning scheme is verified.Finally,the off-threading program of spot welding task is output.The conclusions of this paper provide theoretical references for the design and layout of spot welding workstations,the sequence of path planning and the interference during operation.