The Design And Simulation Of Mobile Welding Robot Equipped With The Mechanical Arm

In the context of the transformation and upgrading of Chinese manufacturing industry,it is an irresistible trend to realize automation,intelligence and flexibility in the production process of welding.Aiming at the fillet welds existing in the large-scale ship lattice steel members,it is necessary to design a mobile welding robot with small volume,light weight and flexible movement in relatively narrow cabins and selftracking welds.The mobile welding robot is equipped with a mechanical arm,which has a wide range of environmental adaptability.It can be applied to a variety of fillet weld structures that include planar fillet welds,space fillet welds and others.Firstly,the structure of the mobile welding robot equipped with the mechanical arm is designed,including the design of the mobile platform and the mechanical arm actuator,as well as the selection of the hardware system;besides,the robotic prototype is modeled and analyzed as a whole.Secondly,the kinematics analysis of the robot mobile platform and the mechanical arm and the integrated kinematics analysis of the robot are presented respectively.The Particle Swarm Optimization(PSO)algorithm based on the mobile mechanical arm to solve inverse kinematics problems and a new trajectory planning method for lattice fillet welds are also proposed in this paper.Thirdly,building the virtual prototype of the mobile welding robot equipped with the mechanical arm by ADAMS software is to verify the rationality of the robot design layout,analyze the dynamic performance of the robot,simulate and make deviation analysis in the welding trajectory and perform the co-simulation analysis on the mobile platform by using MATLAB and ADAMS,which is to obtain more motion characteristics and achieve better control effect on the mobile platform.Finally,processing the robot components and completing the corresponding motion experiment after assembling and debugging.The experimental results show that the mobile platform of the robot moves smoothly and the mechanical arm locates accurately,and they verify the feasibility of the design of the mobile welding robot equipped with the mechanical arm.