| Industrial robotic technology has been widely used in modern automobile manufacturing, especially in two main manufacturing processes- welding process and coating process. However, both the errors from workpiece mounting and the thermal deformation during manufacturing process will have a strong impact on the accuracy control of welding process. Thus, enhancing welding accuracy during welding process is always a popular topic in industrial community. Moreover, to deploy real-time seam tracking technology in the welding robot system provides a practical and valid solution to this problem. Accordingly, the main goal of this paper is to study the design and realization of an industrial robotic seam tracking system and an automatic coating system of which the research results is of great significance in the application of industrial robot in automobile manufacturing enterprises. In this paper, based on the results of previous relative researches, we focus on the development of a new trajectory planning method in joint space of ABB IRB140 which is our research object. To begin with, we undergo the path planning of IRB140 within Cartesian coordinate in order to ensure that IRB140, based on the assurance of working stability, high-speed process, low impact and minor damage on robot, will accomplish welding and coating process within a short duration and a low consumption of energy. Then, together with the results of path planning, the virtual prototype of IRB140 reconstructed by using Pro/Engineering will be used for the kinematics simulation undergoing in ADAMS and the control modules will be constructed and coded in Visual C++. Afterwards, the feasibility and validity of the results of path planning can be verified by simulation carried out on the IRB140 and seam tracking system. Finally, the coding of the control program of seam tracking system and automatic coating system can be fulfilled by utilizing the RAPID program design method of Industrial robot. In conclusion, through the research results of this paper, we will construct a whole flexible welding and coating system which consists of industrial robot, 3D scanning system, fixture and processing equipment(welding and coating equipment). Hopefully, this whole system will be of great demand in the field of automobile manufacturing, teaching and scientific research. |
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