Dynamics Simulation Study Of Welding Robot Based On ADAMS

Welding robot can greatly improve the working efficiency, improve the welding quality and strengthen the competition of enterprises. In this paper, through based on the ADAMS's simulation technology, we have had a deep research on kinematics and dynamics simulation of the six-freedom degrees welding robot.At first, we mainly expound the method of welding robot kinematics and dynamics, and propose optimal methods for the study of this topic. With the D-H method we have established the robot's model, and gained the robot's kinematics and dynamics equations, and established the foundation of robot simulation and control system design.Using 3D parametric software Pro/ENGINEER WILDFIRE to create welding robot part and assembly model library, at the same time, we have built the hardware platform of welding robot system. With the help of the welding robot simulation, we could improve the robot structure design and debug the robot physical prototype in a short time. By using the ADAMS to kinematics and rigid dynamics analysis of the robot, we could make use of the trajectory data from the simulation to debug the robot, by solving the maximum torque in a specific condition of the robot through rigid body dynamics simulation and non-trajectory searching dynamics simulation, which could provide the theoretic gist to the motor selection of the robot, by applying the SimDesigner to rigid flexible system simulation of the robot, which proposes optimal references of the robot's arm.In this paper, starting from six-freedom degrees welding robot kinematics and dynamics parameters design, we have established a complete set of welding robot system design analysis method, which could reduce welding robot's design time and will be important directive significance to welding robot mechanism.Finally, using the core algorithm of the control system, we have developed welding robot's control system, and achieved basic functions of welding robot——spot welding, line welding, arc welding, and the control precision is within allowable range.