Research On The Motion Planning And Positioning Accuracy In The Welding Positioner

The design and the research on the key technologies of a special welding positioner of reducer boxes are introduced in this thesis.As one of the most useful equipments, the welding positioner is applied in the arc-welding robot auto-welding system widely, especially in the field of heavy box's turning as well as lots of welding gaps, so, it's important to design a useful, highly effective and reliable welding positioner system, which is more necessary than welding aided machines else on improving welding produce efficiency, labors'working condition, and promising welding quality.In the thesis, firstly, we decide on the realizing optional methods of five main function parts about welding positioner system, and, we take the whole structure form and the type-choosing main motion power for example to analyze and compare to determine of the whole final designing program. Secondly, we introduce the mechanism of the RT welding positioner designed detailed, especially, we analyze further the incline axis of the positioner, make the research on the changing law of synthesis strength and incline angle about the danger section and optimize the main axis structure, and design the fixture of the boxes which may incline on the working table, and expound the working principle of the mixed closed-loop servo system controlled by C51 single chip .Thirdly, we make the research on the motion planning of the RT welding positioner based on the best welding direction, and derivate the general method of opposite-kinematics, then, we develop the motion planning of a typical space curve and welding positioner of reducer boxes in the condition of simplifying the model solved. In the final of this thesis, we design the experiment for the four main factors which will impact the positioning accuracy of welding positioners'rotating table, plan the experimental steps as well as the method of data treatment, and build the mathematics model based on the multi-factor liner return analysis. Further, the thesis discusses the application on welding positioners of computer simulation from the perspective of transmission errors of the positioner mechanism, take the rotating system for example to build the math model relative, develop a set of PTS simulation software based on the link of VB 6.0 database technology and evaluate the simulation results.