箱型钢结构焊接机器人系统构建及运动学建模

针对箱型钢结构现场焊接施工中的自动化程度低、高空作业和接头质量稳定性不足等问题，设计了一款新型箱型钢结构全位置焊接机器人系统.在介绍机器人系统的结构设计方案和原理的基础上，根据箱型钢结构的结构特征，对其直拐角的焊接运动过程进行了详细的探讨，对其各种运动状态进行了基于Craig D-H模型的运动学建模和分析.针对焊接机器人在过渡运动过程中存在连杆偏距和关节角变量的问题，提出了一种额外引入中间坐标系的正运动学求解方法.结果表明，机器人系统的结构设计和参数选择合理，系统运动学建模及求解正确.

Structural design and kinematics modeling of welding robot system for box-type steel structure

A novel all-position welding robot for box-type steel structure was devised in order to solve the problems of low degree of automation, high risk of work high above the ground and insufficient stability of weld joint quality in the field welding for box-type steel structure. After the structural design scheme and principle of welding robot system are introduced, the welding motion process at the right-angle corner of box-type steel structure is discussed in detail according to the structural characteristics of the box-type steel structure. Then, the kinematics modeling and analysis based on Craig D-H model were carried out for its various motion states. A new method of kinematics modeling and forward solving is proposed by means of introducing one additional intermediate coordinate system under the conditions of existing connecting rod offset and joint angle variable in the process of transition movement state of welding robot. The results of working space analysis of the welding robot system show that the structural design and parameters selection are reasonable and the forward kinematics solutions is correct.