Robot Trajectory Planning And Dynamic Simulation Of N107Dashboard Supports Automatic Welding

Welding as an important modern manufacturing process technology, has been widelyused in the field of mechanical engineering, but due to when it is work can generatethermal radiation and some harmful gas, these is very harmful to human body, in order toimprove the operation of the workers' labor intensity, improve work efficiency, so theintelligent welding equipment-welding robot was born. This article is under the supportof guangxi science and technology agency of project “Base on intelligent welding robot ofvehicle manufacture", specific to the dashboard bracket welding robot, regard the JapanDAI HEN production of FD-350welding robot as the research object, follow searchwork war in process:First of all, this paper introduces the welding robotics about space of the rotation ofthe coordinate system transformation theory that D-H method. Use D-H method toFD-350welding robot and the kinematics analysis was carried out between the linkages,kinematics equation is also established, apply matrix inverse solved the kinematicsequation, in order to plan the robot trajectory the kinematics must be solved.Then apply mechanical system dynamics of Lagrange equation, established dynamicsequation of FD-350welding robot, namely dynamics analysis. Building the3D model ofthe FD-350welding robot in the software Pro/E, then import it into the kinematics anddynamics software ADAMS/View, planning a line for the FD-350welding machine todo kinematics simulation, in order to prove the validity of the model. Finally at the end ofthe welding robot manipulator welding torch exert a movement route, carry out dynamicsimulation, so can get each joint displacement, velocity, acceleration, torque curve, andverify the dynamic model whether validation.