Research On Motion Analysis And Trajectory Optimization Of Welding Robot For Body In White

Facing with numerous welding points of the body-in-white,the enterprise had to meet the fast-paced,high-volume and efficient production so that they would save manpower and material resource.More and more welding stations have been replaced by robots.However,the welding of the body-in-white is a particularly important part of the automobile production process.The quality of the welding directly affects the quality of the whole vehicle.Therefore,the welding process of the spot welding is particularly important.In this paper,the trajectory of each joint angle of the welding robot is optimized to reduce the impact and vibration of the welding robot when the welding torch enters the welding point or leaves the welding point so that we can extend the life of the machine.Firstly,this paper introduces the structure of the body-in-white and the white body production process of the welding robot.The characteristics of the body side wall assembly are analyzed.On the basis of this,the disturbing factors in the welding process are listed.Finally,the welding process and the welding robot station are analyzed.The influence of layout on trajectory planning provides the necessary theoretical support for the subsequent research of the thesis.Secondly,this paper takes the Panasonic TA-1800G2 welding robot as an example,the position and attitude of the robot are described.The coordinate transformation between the coordinate systems is established.According to the linkage parameters of the robot,the motion equation of the robot is obtained based on the coordinate theory.According to the equation of motion,combined with the actual parameters,the forward and inverse kinematics analysis of the robot is carried out.Thirdly,this paper introduces several common methods of joint space trajectory planning.Then it introduces B-spline function to study the geometric properties of Bspline curves and inversely counts the control vertices by cubic B-spline functions.The joint space trajectory is planned,and on this basis,the angular velocity and angular acceleration in the motion trajectory are analyzed.Finally,optimization is carried out under the constraints of speed,acceleration and acceleration.The similarities and differences between the improved cubic B-spline interpolation and cubic spline interpolation trajectory are analyzed and compared by using the Robotics Toolbox in MATLAB software.Through comparative analysis,it is concluded that the improved cubic B-spline curve in the joint space is better than the cubic B-spline and cubic spline interpolation.The simulation shows that the motion is stable near the position of the solder joint,without severe vibration and Impact,effectively maintain the accuracy of the solder joints,and finally verified the simulation in Robot Studio.