Interactive Virtual Robot Welding Simulation Based On Unity3D

Welding robots are widely used in manufacturing industry,construction industry and automobile industry because of their high efficiency,safety and high precision.However,due to the high price and non-portability of welding robots,the training cycle of welding robot-related technicians is long and the cost is high.In addition,in the research process of digital intelligent factory,a visual,interactive and cross-platform welding robot simulation model is also needed.In view of the above problems,this paper takes the IRB 1410 welding robot of ABB company as the prototype,establishes the kinematics model of the welding robot and plans the welding trajectory of the welding robot,and builds the virtual welding robot welding platform through the Unity3 D engine to realize the simulation of the welding process.The main research work is as follows :(1)The kinematics model of welding robot is established.Based on the improved DH parameter method,the forward kinematics model of the welding robot is constructed,and the welding robot is simulated by Robot Studio to verify the correctness of the established forward kinematics model.The analytical solution of the inverse kinematics of IRB 1410 robot is derived,and its inverse kinematics model is constructed.At the same time,the inverse kinematics algorithm of IRB 1410 robot is proposed,and the Simulink verification module is designed to verify the correctness of the inverse kinematics algorithm.The characteristics of solving the workspace of welding robot by step method and Monte Carlo method are compared and analyzed.(2)Trajectory planning of welding robot.The trajectory planning of the welding robot is carried out respectively for the joint coordinate and the Cartesian coordinate system,including polynomial interpolation in the joint space and linear and circular interpolation in the Cartesian space.According to the established kinematic model,the equiangular interpolation trajectory planning of saddle-shaped weld is completed,and a smooth and continuous motion curve is obtained.(3)Interactive virtual robot welding simulation platform based on Unity3 D is designed and established.Based on the requirements of authenticity and interactivity of simulation effect,the overall design scheme of simulation platform is proposed.The terrain,lighting effect,particle system and sky box of the welding simulation platform are completed.The forward and inverse kinematics simulation,trajectory planning,welding process simulation,collision detection and scene roaming of the virtual welding robot are realized.In this paper,the interactive robot welding simulation platform based on Unity3 D is established.Compared with the traditional robot simulation software,the real-time 3 D effect provides users with a more immersive interactive experience,which can be used for welding robot training and teaching and improve the construction of intelligent manufacturing digital twin system.