Welding Robot Repair And Trajectory Planning Of Failed Rotor Shaft Of Motor

The most common forms of failure of the rotor shaft of a motor include cracks,erosion,and expansion of the keyway.Analyze the above two reasons,continuous operating time leads to material fatigue,even sudden accidents or malfunctions occur in the equipment.Most of these cases occur in metal cutting machine tools;however,the latter case occurs in CNC cutting machine tools.It is due to the long-term positive and negative state of the motor.For the failed motor rotor shaft,an engineeringly more reliable solution is to replace the new shaft but the cost is high.Manual welding and stacking methods often require a lot of manpower and time,and are not economical.This article uses the programming function of the MOTOMAN-UP6 robot to program the repair trajectory as a command,and then the robot completes the work according to the instructions.This method saves time and effort and is also safe.The article starts from the following:(1)Research and analysis of the background of this topic,the development history,status quo,development trends and trajectory planning methods of industrial robots at home and abroad,which leads to the content of this paper.(2)Study the servo control system of the MOTOMAN-UP6 robot,analyze the transfer function of each link in the system separately,and get its mathematical model to make a full understanding and understanding of the robot servo system control.It establishes the theoretical basis for robot trajectory planning experiments.(3)At first,analysis the positive and negative kinematics of the MOTOMAN-UP6 robot in theory.Then in the Matlab Robotics toolbox,established its Matlab model according to the D-H parameters of the given six-axis robot structure,the forward and inverse kinematics of the six-axis robot is simulated and verified.(4)Different trajectory planning algorithms for industrial robots in their joint space and Cartesian space are analyzed separately and verified by simulation.The trajectory planning methods of cubic polynomials and fifth polynomials were analyzed in the joint space,and the Matlab simulation analysis was performed on the fifth-order polynomial planning method in detail.In the Cartesian space,analyzes two algorithms,space linear interpolation and arc interpolation,and inferres the functional relationship of the two kinds of trajectories in detail.(5)Designed the software and hardware experiments.On the software side,the trajectory of the dxf file is designed in AutoCAD software,and the simulation of the trajectory planning is verified by the robot simulation platform.On the hardware side,a simple shaft repair was achieved through the programming method of the MOTOMAN UP6 arc welding robot,verifying the feasibility of the repair program.