Coupling Kinematics Modeling And Simulation Analysis Of Industrial Robot Cooperative Welding Workstation

With the rapid development of production mode that product is flexible and the customized,as an equipment for intelligent manufacturing,industrial robot's single independent operation mode is difficult to meet the welding processing of complex parts.Therefore,this paper studied the establishment of a collaborative welding workstation which composed of industrial robot and displacement machines.Firstly,on the basis of analyzing the motion form and its positioning constraints between the industrial robot and the displacement machine,the coupling kinematics model based on the master-slave motion chains are established,additionally,the kinematics equations of the industrial robot and the displacement machine are solved respectively.The solving process of collaborative kinematics is elaborated based on the positional request of the best welding effect.In order to obtain the layout of the actual welding station,the joint axis method suitable for the calibration of the displacement machine base coordinate system is proposed.In response to the movement trajectory of the robot and the displacement machine,the interpolation algorithm for collaborative movement and synchronous motion are designed,and the smooth transition method based on circular welding track is proposed.In order to realize the running speed synchronous between industrial robot and the displacement machine,the synchronous speed planning method based on the extended linkage axis is proposed,and on the basis of trapezoidal speed planning,synchronous speed planning based on the shortest time and a given time has been studied.Eventually,used offline simulation software Robotstudio6.08 as a collaborative simulation platform,the off-line welding workstation of the electrical control box of coal winning machine and T-type pipe is established.The feasibility of collaborative interpolation algorithm and synchronous speed planning is proved by simulation experiment.Based on ADAMS,the dynamic curves of each joint after postural transition were analyzed,which proves the effectiveness of the arc position transition proposed in this paper,the correctness of the off-line welding control procedure is verified by actual welding processing.