| Industrial robots are the key mechatronics equipment in modern industry.They have a wide range of applications and high production efficiency.They have a huge impetus to improve product quality and competitiveness of enterprises.Industrial robots are the sunrise industry in today's information society,and also an important means to realize the automation of manufacturing industry in the future.They play an irreplaceable role in the progress of science and technology and the development of society.Welding robots are the most common and important representatives of industrial robots.The technical research of industrial robots can ensure the quality and accuracy of welding,improve the working environment of workers and reduce the intensity of workers,so as to improve industrial production efficiency.At present,the research and application of welding robot in our country has reached a certain scale,and its application scope is wide and the demand is increasing continuously.Therefore,the research of welding robot is of great significance.The main contents of this paper include the solution of forward and inverse kinematics,dynamic analysis,space trajectory planning and dynamic simulation based on ODE engine.Finally,a welding example is analyzed in adams.Firstly,the D-H method is used to solve the forward kinematics of the 6-DOF welding robot and determine the position and pose of the end-effector of the manipulator.Then the inverse kinematics of the manipulator is solved by the multiple quaternion and the resultant elimination method.Finally,the forward and inverse kinematics model of the robot is analyzed and verified by the MATLAB.Secondly,the dynamic equation of the robot is established by Lagrange method.The dynamic model of the robot is simulated by MATLAB,and the driving moment curves of each joint of the robot are obtained.Thirdly,for the purpose of smooth motion of robots,the trajectory planning of straight lines and arcs in joint space is studied by using quintic polynomial interpolation method and parabolic fitting linear interpolation method,respectively,inCartesian space.Then,a robot motion simulation system is established.Finally,the trajectory planning algorithm of robots is simulated by using the simulation system,and the performance of the algorithm is also studied.Analysis.Fourthly,in view of the shortcomings of the commonly used dynamic simulation methods of manipulators,an open source physical engine ODE is used in the process of modeling and dynamic research.The real-time simulation of the robot's motion process is carried out,and the effectiveness of the simulation method is verified by the joint interpolation experiment.Fifthly,taking the welding of automobile door as an example,the trajectory planning of the robot is simulated.Firstly,the three-dimensional model of the door is obtained,and the kinematics inverse solution is carried out in ADAMS to obtain the trajectory of the end-effector of the robot.The correctness of these simulation methods is verified by comparing the weld curve obtained by the theory. |
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