Mechanism Accuracy Reliability Analysis Of Spot Welding Robot

Spot welding robots are widely used in the automotive,marine and aerospace industries,and their performance levels determine the quality of many industrial products.At present,the spot welding robot products produced in China are far from the world’s top level in terms of life,reliability and mechanism precision.Based on certain theoretical analysis,this paper mainly conducts a large number of simulation analysis experiments on Matlab and ADAMS for various factors affecting the accuracy and reliability of spot welding robot mechanism.Finally,the robot can be quickly calculated by integrating various error factors.Program interface for mechanism accuracy reliability.The specific research content can be summarized as follows:(1)In order to have a good understan ding of the spot welding robot,the system composition is analyzed.Because the fault of the spot welding robot will reduce the accuracy and reliability of the mechanism,the whole system will be divided into four systems according to its structural composition relationship.The fault mode that affects the accuracy and reliability of the system in each system,and then establishes the FMEA table according to the cause,influence,detection method,compensation measure and hazard level of the fault,and then draws the fault tree according to the logical relationship between the faults,and it is analyzed qualitatively and the monte carlo method is used to complete the quantitative analysis.(2)Performing the kinematics accuracy and error analysis of the spot welding robot,calculating the kinematics positive solution of the spot welding robot through the DH model,using the differential transformation theory,combined with the M-DH model,deducing the differential error variation between the coordinate systems.Then the mathematical model between the input error of the robot and the output error of the end position is obtained.The influence of the rod length error and the driving angle error on the end output error is inferred by the model.The model is also used in Matlab to perform multiple simulation tests to obtain the gap.The effect of error on the accuracy of the mechanism.(3)According to the technical index of spot welding robot,the method of measuring the accuracy and attitude accuracy of spot welding robot mechanism is determined.The reliability model of spot welding robot mechanism precision and attitude accuracy is established by combining the kinematics function of input error and output error.(4)Establish a virtual prototype of spot welding robot in ADAMS,perform multiple kinematics simulation analysis on the influence of joint driving angle error and link length error on the accuracy of robot mechanism,and carry out flexible modeling of robot components.The influence of the force deformation of the robot on the accuracy of the mechanism.The simulation data was statistically processed by Matlab software programming,and the influence of each input error factor on the end output error was verified.(5)In order to comprehensively consider the influence of multi-factor superposition on the accuracy of the mechanism precision,the program interface of calculating the accuracy and reliability of the robot is designed by Visual Basic programming.