轨道式焊接机器人的虚拟样机设计与仿真

针对受损的水轮机叶片等具有空间复杂曲面结构,在其安装位置直接进行修复工作,设计了一种基于移动平台的焊接机器人虚拟样机。为确定焊枪末端与机器人6个关节之间的运动关系,建立虚拟样机DH坐标系,借助Matlab软件得到运动学方程正、逆解。将在Solid Works软件中建立的焊接机器人三维模型,导入ADAMS仿真软件进行运动学分析。仿真结果表明:机器人在狭窄空间启动时,由滑动、转动关节运动引起的焊枪末端空间位移变化小,速度、加速度曲线变化平缓,无任何突变,证明了该虚拟样机设计的有效性,满足基坑内的焊接工作要求。

Design and Simulation of an Virtual Prototype for the Orbital Welding Robot

Aiming at the damaged blades of hydraulic turbines or other structures with spatial complicated curved surfaces, which can be repaired directly in their installation position, an virtual prototype of the welding robot based on the mobile platform was de-signed. In order to determine the kinematic relationship between end of the welding torch and all robot joints, the DH coordinate system of the virtual prototype was built up, then the forward kinematics and inverse kinematics were obtained with Matlab software. The three-dimensional ( 3-D) model of the welding robot was imported into ADAMS simulation software, which was set up with SolidWorks soft-ware, then the kinematics analysis was done. The simulation results show that space displacement changed little caused by the plane joint and rotational joint, velocity and accelerationcurves changed smoothly without any mutation which can prove the effectiveness of the virtual prototype design, and satisfy the needs of the welding work inside of foundation pits.