Research On Structure Design And Motion Planning Of A Mobile Welding Robot With Linear Module

With the development of economy,society and technology,manufacturing has become more and more important for the development of the real economy.Especially in the context of the increasingly mature development of artificial intelligence,intelligent manufacturing will also become the mainstream direction of manufacturing development.This is also true for the traditional welding field.In order to change the traditional manual welding mode,it is necessary to deeply study the welding automation.This paper mainly designs a mobile welding robot system for a large number of straight and right angle welds in the cabin welding industry.The mobile welding robot system can improve the cabin welding efficiency,solve the problems of complex artificial welding environment and low safety factor,and require the mobile welding robot to be flexible in steering,light in weight and good in mobility.Firstly,according to the design requirements,the structure design of the mobile welding robot body and the automatic adjustment welding shielding gas flow device is carried out,including the mobile platform,turntable and its base,linear module,end rotary joint and other modules,and the overall modeling analysis is carried out through SOLIDWORKS software.Secondly,the kinematics modeling and analysis of the mobile welding robot body that has been modeled are carried out,and the simulation analysis of the mobile welding robot body that has passed the kinematics modeling is carried out through the Simulink module in the MATLAB software,and the expected motion state of the four main joints is obtained.Then,the trajectory planning of the mobile welding robot is studied,focusing on the planning and analysis of right-angle turn forms,and the planning of space straight line,space arc,right-angle turn is simulated to obtain the motion trajectory.At the same time,the theoretical analysis and simulation analysis of the automatic welding shielding gas flow device are carried out to lay a foundation for the follow-up research.Finally,the physical prototype of the robot body and the automatic welding shielding gas flow device in the mobile welding robot system are built,and the four main joints of the robot body are controlled and driven,and the motion state before and after driving is compared and analyzed,and good results are obtained.