Automatic programming system of complex space trajectory welding robot
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摘要: 针对机器人在空间曲面焊接过程中需要保持焊接速度和焊炬位姿恒定的工艺要求，提出了一种适用于复杂空间曲面焊接机器人的运动规划方法，该方法采用NURBS曲线对三维点云描述的空间轨迹进行光顺逼近，建立机器人配合变位机组成的多自由度焊接系统运动学模型并进行逆运动学求解. 开发了一套完整的复杂空间曲面焊接机器人自动编程系统. 以翻领成型器为例进行了复杂空间曲面焊接机器人的自动编程及焊接试验. 结果表明，文中提出的复杂空间曲面焊接机器人运动规划方法和自动编程系统能够顺利完成焊接任务，且运动平稳，具有良好的焊接轨迹精度.Abstract: The automatic programming of complex space curved surface welding robots is fundamental to achieving high-frequency, high-precision automatic welding. To maintain constant welding speed and torch pose during space surface welding, a motion planning method suitable for complex space surface welding robots was proposed. NURBS curves were used to smooth and approximate the space trajectory described by three-dimensional point clouds. The kinematic model of a multi-degree-of-freedom welding system was established, and inverse kinematics were solved. Finally, a complete automatic programming system for complex spatial curved welding robots was developed based on the above research. A lapel shaper was used as an example to perform automatic programming and welding experiments with a complex space curved surface welding robot. The results show that the proposed motion planning method and automatic programming system for complex space curved surface welding robots can successfully complete welding tasks with stable motion and good welding trajectory accuracy.
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图 1 复杂空间曲面焊接机器人运动机构示意图
Figure 1. Motion mechanism of complex space curved surface welding robot direction
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图 2 焊接机器人坐标系建立情况示意图
Figure 2. Establishment of welding robot coordinate system direction
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图 4 焊接机器人自动编程系统
Figure 4. Automatic programming system for welding robot. (a) Automatic programming system architecture; (b) Automatic programming flowchart
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图 6 焊接机器人离线编程系统软件界面
Figure 6. Software interface of welding robot offline programming system
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图 7 复杂空间曲面焊接机器人系统实物图
Figure 7. Physical drawing of complex space curved surface welding robot system
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图 9 无NURBS光顺自动编程焊接试验系统参数
Figure 9. No NURBS smoothing automatic programming welding experimental system parameters. (a) graph of joint angle with time; (b) graph of joint current with time; (c) actual error at the end of the welding torch
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