| Plasma welding technology is widely used in modern manufacturing and processing because of its low cost,small welding deformation,high energy density and good controllability and regulation.In addition,with the development of automation and intellectualization,plasma welding is widely used in combination with industrial robots.The upgrading of industry needs to improve the original backward trajectory planning technology based on teaching and reproduction,and it is imperative to find a trajectory planning method that can further improve the processing efficiency.In this paper,the development and current situation of plasma welding and trajectory planning of industrial robots are described.By extracting the main spot welding and arc welding processing schemes in plasma welding trajectory planning,the main contents and structure of the paper are put forward.Firstly,the mathematical model of ABB IRB-4600 robot is established,and the forward and inverse kinematics equations of the robot are obtained by kinematics analysis.The genetic algorithm is summarized and its advantages are analyzed,and the basic flow of the algorithm is established.Secondly,TSP traveling salesman problem is used to establish the mathematical model of spot-welding trajectory.Typical genetic algorithm is used to solve the problem,and the fitness evaluation and proportion selection of Typical genetic algorithm are improved.Adaptive crossover and mutation operators are adopted,and evolutionary reverse operation is added.The spot-welding trajectory is simulated and compared by MATLAB,and the calculation speed is faster and the calculation accuracy is higher.Improved adaptive genetic algorithm for spot welding.Thirdly,the continuity of B-spline curve is used to approximate the joint trajectory in arc welding.By optimizing the initial population,improving the crossover and mutation operators,adding speed,acceleration and moment constraints,the trajectory interpolation time is optimized,and a genetic algorithm based on time optimization is obtained.Compared with B-spline interpolation and general genetic algorithm,the running time of the joint axis is reduced.Finally,considering the optimization of actual processing,Robot Studio software is used to simulate the processing technology.Through simulation,the algorithm trajectory planning of spot welding and arc welding is realized,which meets the requirements of automation and efficiency,and is effective for actual processing. |
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