Research On Space Trajectory Planning And Simulation Of Ship Group Welding Robots

In the field of shipbuilding,the development of welding technology plays a very important role in the manufacture of ships.The ship group is an important intermediate product in the shipbuilding process.Its structure is generally relatively simple and numerous,based on the ship group.These characteristics make it ideal for high-volume welding production operations using automated robotic production lines.However,domestic ship production is still mostly in the traditional manual operation stage,and labor costs for manual work are higher and work hours are longer.The shortcomings of quality and low production efficiency make it imperative to develop robotic automatic welding technology.In this paper,based on the analysis of the trajectory planning of the group’s welding robot,based on the analysis and determination of the production status of the group robot welding and the specific production requirements,the forward and reverse kinematics analysis and the workspace analysis of the robot are performed on the group of welding robots.The MATLAB software was used to verify the forward and inverse kinematics of the robot.At the same time,the working space of the robot was verified,which laid the foundation for the subsequent simulation analysis.Aiming at the trajectory planning problem of FANUC M-10iA welding robot,this paper mainly introduces the method of using the polynomial to perform trajectory interpolation in the robot joint space.This kind of interpolation method is mainly used to consider the efficiency when solving the trajectory difference.For the FANUC M-10iA group welding robot,when the group is standing up,there are many different workpieces in the group.Therefore,it is not only a simple plane welding but also a simple plane arc in the welding operation.The welding is a mixed trajectory of straight lines and arcs in space.It is found through analysis that the cubic spline curve can realize the transition of velocity and acceleration at the end of the trajectory when the trajectory interpolation is performed,and the speed and acceleration are relatively smooth.In view of the welding situation of FANUC M-10iA group welding robot,taking the welding time as the optimization goal,carefully study the basic principle of genetic algorithm and its characteristics in the process of problem optimization,through the existing genetic algorithm Learning,the traditional genetic algorithm in the calculation process and the operation process has been improved,using real number coding to write MATLAB program,simulation operation,and analysis of simulation results,the FANUC M-10iA welding robot meets the requirements of kinematics and dynamics parameters At the same time,the efficiency of the robot has been improved.By establishing the dynamic equation analysis of the FANUCM-10iA welding robot,the 3D model of the FANUCM-10iA robot is established by the 3D modeling software,and the relevant parameters of the group welding robot are obtained.According to the optimization of the fourth chapter,the trajectory after optimization is obtained.The time function of displacement,velocity,and acceleration is simulated by MATLAB software,and the curves of the moments of the individual joints of the robot are obtained.The dynamics of the robot is simulated by ADMAS to obtain FANUCM.The correlation curve between the force and the moment of each joint of the-10iA welding robot under specific working conditions is analyzed.