Kinematic Reliability Analysis Of Welding Robot Mechanism

In recent years,the development of welding robot technology is very rapid,and it is developing towards intellectualization,generalization and flexibility.At the same time,the reliability of welding robots is becoming more and more prominent.Most robots are difficult to meet the requirements of high precision,high versatility and high reliability.Motion reliability is an important index to measure the quality and accuracy of the welding robot.Therefore,it is necessary to analyze the motion reliability of the welding robot to meet the requirements of high reliability of the welding work.In this paper,the kinematic reliability of 6-DOF serial joint robots is analyzed.Firstly,the kinematics analysis of welding robot is carried out;Secondly,the kinematics accuracy reliability of welding robot is analyzed under the influence of various factors;Secondly,the kinematics reliability simulation technology of welding robot is studied;Finally,the kinematics reliability simulation analysis of welding robot is carried out under the influence of various factors,and calculate reliability under various factors.Research on the motion reliability of the welding robot mechanism,the main contents of the thesis include:(1)Based on the overall analysis of the welding robot,the kinematics equation of the welding robot is established by D-H coordinate method;the workspace of the welding robot is analyzed by Monte Carlo method based on Robotic Toolboox,and the trajectory of the welding robot is planned by using the quintic polynomial interpolation method in the joint coordinate system based on Robotic Toolboox.(2)The factors affecting the motion reliability of the welding robot are analyzed,and the static pose error model,reliability calculation model and trajectory reliability model of the welding robot are established by using the micro-displacement synthesis method;the end pose error and error sensitivity are analyzed;Analyze the influence of connecting rod parameters on the reliability of position and posture accuracy of welding robot based on Monte Carlo numerical simulation method.(3)Based on ADAMS secondary development technology,the function MYRAND which obeys the normal random distribution and the user interface of ADAMS are created,and the simulation module of robot motion reliability is established;the cyclic simulation program is compiled to realize the random modification of the simulation model and the output and preservation of each simulation result;Based on MATLAB and VC++6.0,the simulation result data is processed,and the robot mechanism reliability calculation module is created.(4)The virtual prototype of welding robot is built in ADAMS/View,the parameterized simulation model is established by Monte Carlo method,and the rigid-flexible hybrid model is built in ViewFlex.The simulation model is modified according to the actual motion situation,and the motion reliability simulation of welding robot under different random errors is completed by ADAMS,and the motion curve is post-processed.(5)The motion trajectory of the welding robot is analyzed under the influence of the size error of the rod,the clearance error of the motion pair,the angle error of the joint and the deformation of the force,and the motion error is calculated.The reliability of the welding robot under different errors is calculated by the reliability calculation module,and the relationship between the error and the reliability is analyzed.