| With the development of manufacturing industry and the informationization level and the increase of labor cost, all countries in the world regard intelligent industrial robot as the main development direction, and the countries around the world take more and more attentions on the intelligent robot industrialization development. As a new type of intelligent manufacturing equipment, the autonomous mobile welding robot is widely used in the manufacture of large steel structures, especially in shipbuilding industry.This article in view of the large ship welding work which exist trellis pattern welding components, the components contain a large number of rectangular welding. So the welding work has its own characteristics, such as heavy welding workload, low degree of automation, poor working conditions and narrow and small space, an automatic mobile welding robot designed in this article based on rotating arc sensor and virtual prototype technology to improve the shipbuilding welding automation production level.First of all, according to the welding robot research among domestic and abroad, summarizes the characteristics of welding robot mechanism and the weld sensor type, according to the features of rotating arc sensor designed a motion mechanism of a small mobile welding robot, which based on the secondary tracking strategy, contains a wheeled mobile platform and 2D precise positioning platform, and research on modeling.Secondly, as to the shortcomings of the rotating arc sensor vibration, using the dynamic balance theory analysis the structure characteristics and establish parametric model and optimization analysis based on virtual prototyping technology, and eventually using dynamic balance equipment for physical prototype measuring experiment, and complete the optimized design to keep the robot on the welding work afloat by vibration, improve the quality of welding.Thirdly, the kinematics model of the quarter turning mobile welding robot is established by using the theory of robot kinematics, and analysis the deviation of the system. In order to provide theoretical basis for achieving high performance control algorithm and control strategy, study on the process of the robot in the quarter turn at different stages and complete the kinematics planning.Finally, the virtual prototype model of the quarter turning welding robot is built by using ADAMS, and carry on the simulation analysis of the system. Based on the simulation analysis establish the physical prototype welding system, complete tracking experiment and used in hull welding scene actual production, the results show that the mobile welding robot performance indicators satisfy the design requirements and the needs of actual production. |
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