Robot Motion Trajectory And Process Collaborative Planning For Complex Spatial Curve Path

With the vigorous development of national manned space technology,the structure and types of manned spacecraft capsule are gradually diversified.The capsule structure of manned spacecraft capsule as the main bearing part is of great significance which is carrying the life safety of astronauts.Complex curved space welds exist widely in manned spacecraft.The quality of welds is the key to ensure the quality of spacecraft structure.Due to the poor quality consistency of the weld obtained by the traditional manual welding process,the existence of repair welding,missing welding,the complex space curve welds with variable posture and curvature form have higher and higher requirements for manual welding technology.The application of welding robot improves the working environment of workers and increases labor productivity and has good stability of weld quality.This project focuses on the major needs of national manned spacecraft development and relies on Beijing Satellite Manufacturing Co.LTD,to carry out a research on the collaborative planning of complex space curved path robot trajectory and process.the main research contents are as follows:Firstly,the connecting rod coordinate system of industrial robots is established by applying standard D-H parameter method,and the forward and inverse kinematics solutions of industrial robots are obtained.The forward and inverse kinematics models of industrial robots are simulated and verified by using the Robotics Toolbox of MATLAB platform.The kinematic analysis of industrial robots is the premise and key to realize the robot off-line programming and trajectory planning.Then,an 11-axis joint complex space curve industrial robot automatic argon arc welding test platform and a complex curved wall friction stir welding test platform were constructed to provide a hardware working environment for the subsequent research.Secondly,PQArt which is our first offline programming simulation software for industrial robots is used to construct corresponding 3D virtual work scenes according to different process requirements,and generate robot programs through scene construction,trajectory design,trajectory simulation,code postplacement and other steps.Thirdly,process planning is carried out based on different process requirements,and trajectory planning is carried out based on off-line programming simulation software of industrial robots,so as to realize collaborative trajectory and process planning.Finally,for three different types of typical spatial curve welds,different welding processes were used for specific test verification,and X-ray,ultrasonic phased array and vacuum helium mass spectrometry were performed for the obtained typical spatial curve welds.In this paper,complex curved space welds widely existed in manned spacecraft are taken as the research object,automatic argon arc welding and friction stir welding test platform are used,and trajectory planning is carried out with the help of PQArt off-line programming software,and process planning is carried out respectively for arc welding and friction stir welding processes existing in production practice.The experimental results show that the trajectory and process collaborative planning method of industrial robots for complex space curved welds in this paper is feasible and the internal quality and air tightness of the obtained welds meet the requirements of the space industry standard Class I welds.