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李雪琴, 蒋红海, 殷国富, 胡晓兵. 多关节焊接机器人轨迹误差补偿解耦分析[J]. 焊接学报, 2013, (10): 63-66.
引用本文: 李雪琴, 蒋红海, 殷国富, 胡晓兵. 多关节焊接机器人轨迹误差补偿解耦分析[J]. 焊接学报, 2013, (10): 63-66.
LI Xueqin, JIANG Honghai, YIN Guofu, HU Xiaobing. Research on decoupling of trajectory error compensation for multi-joint welding robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2013, (10): 63-66.
Citation: LI Xueqin, JIANG Honghai, YIN Guofu, HU Xiaobing. Research on decoupling of trajectory error compensation for multi-joint welding robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2013, (10): 63-66.

多关节焊接机器人轨迹误差补偿解耦分析

Research on decoupling of trajectory error compensation for multi-joint welding robot

  • 摘要: 由于多种误差源的影响,机器人焊枪末端往往不能按照预定轨迹运动,提出输入附加运动法对各运动关节进行补偿,使焊枪末端产生相应的微小摄动,从而抵消位姿误差.因为6R焊接机器人各关节运动副间存在一定的耦合关系,通过分析焊接机器人各坐标系间位姿变换关系,基于小误差运动假设,建立了误差补偿模型,通过该数学模型可解耦出各关节所需要的补偿摄动量.仿真验证了所提解耦方法以及建立模型的正确性.结果表明,该算法能有效降低焊枪末端位姿误差,为焊接机器人位姿精度控制提供了有效的理论依据.

     

    Abstract: The shakedown behavior of U-groove butt welded joints under cycle thermo-mechanical loadings was studied by ABAQUS according to the nonlinear superstition method.The effect of the geometrical scale of welding line,yield stress,thermal expansion coefficient and Young's modulus of the base material and weld material as well as the thickness of piping on the shakedown behavior were studied.Results showed that the geometry of welding line has little influence on the shakedown region, while the difference between the yield stress,thermal expansion coefficient and Young's modulus of the base material and welding material influence the shakedown behavior significantly due to the great local stress.Lastly,the shakedown estimation method of U groove butt welded joints was developed for engineering designs.

     

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