Welding Trajectory Planning And Simulation Platform Of Welding Robot

The welding robot has good welding quality,high precision,improves the working environment of the workers,high welding efficiency can work 24 hours,and the production time of each product is fixed,which is convenient for setting production tasks.However,the domestic market is mainly controlled by foreign welding robot manufacturers,so research and development of welding robot technology is of great significance for improving the production technology level of our country.This paper takes the CLOOS-QRH welding robot as the research object,and first introduces the kinematics of the robot.According to the actual parameters of CLOOS-QRH,establish a robot D-H model for it.And solve the forward and inverse kinematics equations of the welding robot.The MATLAB robot toolbox was used to simulate the forward and inverse kinematics equations of the proposed manipulator and its correctness was verified.Secondly,the working space of the welding robot is analyzed,and several methods for solving the robot working space are briefly described.The two methods of numerical method and Monte Carlo method for solving welding robot working space are discussed in depth.With the help of MATLAB robot toolbox,the two methods are used to simulate the workspace of the welding robot studied in this paper,and the spatial point cloud map is obtained.The advantages and disadvantages of the two methods are analyzed and described.Then,the interpolation algorithm of the robot in the workspace coordinate system and Cartesian space coordinate system are discussed.In the space coordinate system,the trajectory planning of the robot is studied by the cubic polynomial interpolation method,the fifth-order polynomial interpolation method and the linear interpolation method of parabolic transition respectively.In the Cartesian coordinate space,the trajectory planning of the robot is studied by linear interpolation method and circular interpolation method respectively.The trajectory planning of the welding robot is carried out by using the fifth-order polynomial interpolation method and the circular interpolation method respectively.The MATLAB software is used to obtain the relationship between the displacement,velocity and acceleration of each joint during the operation of the two interpolation methods.Compared with the advantages and disadvantages of these two spatial interpolation methods,different interpolation methods are used under different working conditions.Finally,the solid model of CLOOS-QRH welding robot was established by SolidWorks software.Set up the MATLAB simulation environment and load the created solid model into the MATLAB software.Established a 3D simulation platform for welding robots...