Research On SCARA Robot Kinematics Algorithm And Application In Oxy-hydrogen Micro-flame Welding

With the intelligent transformation and upgrading of traditional industries,industrial robots are receiving more and more attention.Among them,SCARA robot plays an important role for its speed and reliability.In addition,the traditional manual oxy-hydrogen micro-flame welding cannot meet the market demand,so the oxy-hydrogen micro-flame automatic welding equipment has a great application prospects.In case of this situation,based on the self-developed motion controller,the robot technology and oxy-hydrogen micro-flame welding technology are combined to develop oxy-hydrogen micro-flame automatic welding equipment based on SCARA robot,which will promote the development of oxy-hydrogen welding technology to green,efficient and intelligent.Firstly,this paper analyzes the structural characteristics of SCARA robots.On this basis,the kinematics model is established by DH coordinate method,and the inverse kinematics equation is solved by numerical method.Finally,the SCARA robot model is built by Robotics Toolbox of MATLAB platform.The simulation of the model and the verification of the kinematic equations laid the foundation for further research on the SCARA robot.Secondly,the trajectory planning problem is analyzed from the two perspectives of Cartesian space and joint space.In Cartesian space trajectory planning,linear programming and arc planning are completed by mathematical analysis and coordinate transformation.In joint space planning,the fifth-order polynomial interpolation and S-curve acceleration and deceleration interpolation methods are introduced,and a planning optimization method based on genetic algorithm is proposed.It adopts the four-fifth-order polynomial interpolation method to minimize the travel time and travel space as the optimization target,then design constraints and make the MATLAB Human-Machine interaction trajectory planner.Thirdly,the virtual simulation platform technology is introduced.Through the Assimp model import library,the SCARA robot Max 3D model is imported into the OpenGL scene by visual studio and QT and then the motion control simulation software is developed.Then,the controller Class is added into the VS and the motion control algorithm is written into it.Whenthe Human-Machine interface sends control commands to the controller,it will drive the model to perform corresponding motion and draws the motion track of the robot end in real time to verify the feasibility of the motion control algorithm.Finally,a SCARA oxy-hydrogen micro-flame welding platform is built.At first,the overall design scheme of SCARA welding platform and the process research of micro-flame welding are introduced.Then,the construction process of the platform is detailed from two aspects of software and hardware design.The hardware part mainly includes functional analysis,structural design and device selection;the software aspect defines the software framework through the process flow of the device and designs the UI control interface.After the platform is built,a large number of welding experiments not only achieved good welding results,but also verified the correctness of the kinematics algorithm.