基于ADAMS/View的弧焊机器人运动精度可靠性分析方法

弧焊机器人各部分的传动精度会对焊枪的行走精度产生累积误差,影响焊接质量,因此有效控制其传动精度和各类随机误差成为提高设计质量的关键.文中提出一种弧焊机器人运动精度可靠性分析方法.基于ADAMS/View软件虚拟平台,建立弧焊机器人参数化虚拟试验样机,利用乘同余法编写正态分布伪随机数子函数程序,模拟机构的各种随机误差分布,实现样机的Monte Carlo参数化,从而随机建立虚拟样机进行模拟计算,获取焊接过程动态特性大样本试验数据,统计试验数据并求取其运动可靠度.结果表明,该方法不必建立复杂的机构运动学数学模型,能有效提高设计效率和精度.

Analysis of motion accuracy reliabilityfor arc welding robot based on ADAMS/View

The inner transmission accuracies of the arc welding robots would cause cumulative errors on the motion paths of welding gun, and which inevitably causes low welding quality.Therefore, it was a key problem how to control the transmission accuracies and different random errors of the welding robots in improving the original designqualities of welding robot. A motion accuracy reliability analysis method was introducedfor the arc welding robot with ADAMS/View software. A Monte Carlo parametric virtue prototype of the robot was built and its different error distributions were simulated by the pseudo-random number sub-function program by using multiplicative congruential method, and then a large sample data in the dynamic welding process were obtained. The robot motion reliabilities can be calculated based on these data. It showed that the advantages of this method include simplicity(no need to solve complex dynamic mathematical models), high accuracy, and efficiency.