Research On Process Driven Collaborative Welding Path Planning Of Manipulator

Welding is necessary process in the shipbuilding.Because of the disadvantages of the current manual welding,such as lower welding efficiency and unstable welding quality,the automatic welding instead of manual application in the field of ship welding has become the main development direction.However,due to variety of ship components,different structures,complex spatial distribution of welds,and many corresponding process constraints,it is necessary to plan the welding path of welding robot intelligently to improve the welding efficiency and quality.The current welding path planning method can not meet the application of the complex ship component welding scene,so the subject focuses on the collision detection and path planning of the manipulator in the process of ship complex component welding.The main contents are as follows:(1)Kinematic model.According to the structural characteristics of the manipulator in the project,the traditional D-H parameter method is used to analyze the forward and inverse kinematics of the manipulator.On this basis,the space pose of the welding gun is described,and the manipulator and the working space of the welding gun are transformed through coordinate transformation,forming a complete kinematic chain of the manipulator,welding gun and world coordinate.(2)Process research and model building.This paper expound the relevant process of ship welding,study the causes of ship welding deformation and the corresponding prevention measures.Then the mathematical model of different types of weld is extracted,make further efforts coordinate system is established.(3)Collision detection of manipulator.In view of the collision problem of the welding system composed of the mechanical arm and the welding component,the separation axis theory is analyzed in detail,and on this basis,the collision detection method of the bounding box is introduced.According to the characteristics of the manipulator and the welding component,the collision model is established by using the cylinder envelope and the cube envelope,and the geometric distance measurement method is proposed to analyze the collision of the system.(4)Welding path planning and simulation.Based on the consideration of welding directionality and welding space constraints,the welding planning problem is modeled and described.An optimized ant colony algorithm is proposed to improve the way of path planning,which makes the algorithm more targeted to solve the problem of path planning.Finally,the v-rep(virtual robot experiment platform)platform is used to carry out simulation experiments,with directionality and order as the main goal to verify the effectiveness of the algorithm and the feasibility of the collision detection method through simulation.