基于旋转电弧轮式焊接机器人运动学建模及仿真*

作者：洪波1，何秀全1，李湘文1，刘新2，洪宇翔1 日期：2010-06-28/span> 浏览：3913 查看PDF文档

基于旋转电弧轮式焊接机器人运动学建模及仿真*
洪波1，何秀全1，李湘文1，刘新2，洪宇翔1
(1．湘潭大学 机械工程学院，湖南 湘潭 411105； 2．湖南工业大学 机械工程学院，湖南 株洲 412008）

摘要：旋转电弧轮式焊接机器人的焊炬执行机构由十字滑块和小车左右差速驱动轮两个运动单元构成。针对其机构设计的稳定性以及可控性等问题，根据运动特点推导出焊炬的运动学模型，由旋转电弧焊缝跟踪原理应用Matlab/Simulink进行焊缝跟踪仿真，实现了机构设计以及控制方法对焊缝跟踪的影响。仿真结果证明了该模型的有效性和正确性，为旋转电弧移焊接机器人的机构设计、稳定性分析以及控制器设计提供了理论依据。
关键词：旋转电弧；运动学；焊接机器人；建模仿真
中图分类号：TP242.2文献标识码：A文章编号：1001-4551(2010)04-0038-03

Kinematics model and simulation based on the
rotating arc of welding wheeled robot

HONG Bo1, HE Xiuquan, LI Xiangwen1, LIU Xin2, HONG Yuxiang1
(1. School of Mechanical Engineering, Xiangtan University, Xiangtan 411105, China；
2. School of Mechanical Engineering, Hunan University of Technology, Zhuzhou 412008, China)

Abstract: The rotating arc of welding wheeled robots actuating mechanism of welding torch is formed by two motor units， crossslider and differential speed of driving wheel. Aiming at the problems of stability of mechanism design and controllability of the rotating arc of welding wheeled robot, at first, based on the movement characteristics, the welding torchs kinematics model was derived, and then by the principle of rotating arc seam tracking, the seam tracking was simulated by Matlab/Simulink. The influence of seam tracking was realized by mechanism design and control methods. Simulation results prove that the kinematics model is effective and correct, and they can also provide theoretical basis for mechanism design, stability analysis and controller design of the arc sensor of welding wheeled robot.
Key words: rotating arc; kinematics; welding wheeled robot; modeling and simulation