| 弧焊机器人运动学仿真软件的设计与开发 |
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| 引用本文： | 肖心远,王国荣,石永华,李鹤喜. 弧焊机器人运动学仿真软件的设计与开发[J]. 电焊机, 2007, 37(8): 20-22,55 |
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| 作者姓名： | 肖心远 王国荣 石永华 李鹤喜 |
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| 作者单位： | 华南理工大学,机械学院,广东,广州,510641;华南理工大学,机械学院,广东,广州,510641;华南理工大学,机械学院,广东,广州,510641;华南理工大学,机械学院,广东,广州,510641 |
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| 摘 要： | 为提高焊缝跟踪的效率,降低焊接成本,开展了弧焊机器人运动学仿真的研究.本实验室中机器人为六自由度的弧焊机器人,应用Pro/engineer软件进行机器人单体建模,建成七个单体,然后导入到VRML中进行组合移动,在VRML中每个单体作为一个结点.在MATLAB环境下制作软件界面,运动角度及位置的精确移动也采用MATLAB进行矩阵运算,利用D-H方法和代数法求解机器人的运动学的正解及逆解问题.结合VRML和MATLAB,开发出高效低成本的弧焊机器人的运动学仿真软件.
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| 关 键 词： | VRML 弧焊机器人 运动学 仿真 |
| 文章编号： | 1001-2303（2007）08-0020-04 |
| 修稿时间： | 2007-05-25 |
Design and development of kinematics simulation software for arc welding robot |
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| XIAO Xin-yuan,WANG Guo-rong,SHI Yong-hua,LI He-xi. Design and development of kinematics simulation software for arc welding robot[J]. Electric Welding Machine, 2007, 37(8): 20-22,55 |
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| Authors: | XIAO Xin-yuan WANG Guo-rong SHI Yong-hua LI He-xi |
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| Affiliation: | School of Mechanical Engineering,South China University of Technology, Guangzhou 510641,China |
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| Abstract: | Welding robot kinematics simulation is studied in order to improve the efficiency of seam tracking and reduce welding costs.The robot is six degrees of freedom arc welding robot in the laboratory.Pro/engineer software is applied to realize robot monomer modeling and build seven monomers which are imported to VRML for combination,each monomer is a single node in VRML.Soflware interface is developed by taking the MatLah.The motion angles and the exact location of mobile is also used MatLah to realize matrix calculation.Meanwhile,Positive and inverse kinematics problems of robot are solved by using D-H coordinate and Algebra method. An efficient and cheap kinematics simulation software of welding robot was developed based on VRML and MatLab. |
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| Keywords: | VRML arc welding robot kinematics simulation |
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