Design And Research Of Steel Formwork Welding Robot

With the development of urbanization in China,the demand for building steel formwork is huge,using robot welding has become an inevitable trend.Building steel formwork is made of type steel and steel plate welding,many styles and complicated welds.most of China’s welding robots are made dependent on imports,and building steel formwork manufacturing enterprises can not bear its high cost.Therefore,it is planned to carry out research on the key technology of steel formwork welding robot and promote its localization.The main design and research contents are as follows:1)According to the structural characteristics and dimensions of the steel template solder,we plan and designed the parametric modeling of the workstation,and optimized the arm length according to the genetic algorithm theory.2)Based on the finite element theory and the Ansys Workbench software,the component strength meets the requirements,reduce the boom mass by 37% and improve the dynamic mechanical characteristics of the welding accuracy.3)Based on the finite element theory,professional welding simulation Simufact welding software and welding sequence process parameters,the welding deformation of steel template,welding can meet the requirements,and the optimal welding path of the robot is planned.4)Through kinematic analysis and trajectory planning of the robot arm and verified by matlab robot toolbox,the robot arm is stable and has correct kinematic parameters,and the simulation results show that the working space of the robot arm can meet the welding task.5)A modified Newton Euler recurrence algorithm is proposed to solve the joint drive moment of U-angle welding trajectory,and the dynamic simulation is conducted in ADAMS to show that the end joint trajectory of the manipulator agrees with the planning result and proves the effectiveness of the method.Figure 46;Table 18;Reference 60...