Study On Vehicle Automatic Welding Workstation Based On Quaternions

For industrial production, teaching and playing programming method is mainly used in welding robot. The method has been difficult to meet in small or medium-sized quantities, complex parts, higher demand of automobile spare parts manufacturing and quality requirements for welding. Develop a practical and economic robotic welding workstations, to meet the demands of those automobile spare parts manufacturing enterprises, has a high value in engineering applications. About the robot automated welding workstation, the thesis mainly studied as follows:For the large amount of calculation of6R serial robot kinematics, it is difficult to solve the6R robot kinematics in the traditional method, such as multiple solutions, singularity, and so on. Described in the Plucker coordinates of rigid body motion, then establish the quaternion mathematical model of the rigid body motion, and further establish6R serial robot kinematics mathematical model, which can be easily obtained6R serial robot inverse kinematics. Finally, set a series robot as an example, by using MATLAB M-file algorithm to calculate the forward and inverse kinematic of6R robot, using MATLAB/Robot toolbox verify the results. Compared with traditional methods, solving serial robot kinematics inverse solution in quaternion method, simplified the calculation, more versatile, improving the computing speed as well as to further improve the real-time controllor.As is difficulties for teaching complex welds curve in programing the robot, and in order to improve the quality of welding, establish a workstation offline programming mathematical model. By drawing the workpieces weld CAD model and study the data structure of CAD/DXF files, built the data interface from the CAD model of the weld seam to MATLAB coordinate information to facilitate intuitive CAD files directly into the computer can identify the location coordinates facilitate the calculation of off-line programming.According to the welding process requirements, the establishment of the robot and positioner decoupling algorithm; according to the technical requirements set during welding torch attitude,7degrees of freedom of the overall system of local constraints of redundant degrees of freedom, the freedom to avoid system over redundancy degrees. The trajectory of the robot and positioner, in accordance with the rules of procedure of the robot and positioner trajectory were transformed into the movement of the robot and positioner program.Build a robot automated welding workstations, workstation robot and positioner the coordination linkage algorithm model, including the location of the robot and positioner coordination algorithm, speed coordination algorithms, and attitude coordination algorithm research, the ultimate robot and positioner control procedures. And in MotoSim EG simulation algorithm validation as well as by robot welding workstation.