Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot
With the rapid development of robot industrialization and intelligence,welding robots are widely used in construction,machinery and other fields,and the motion performance and trajectory planning capabilities of robots directly affect the quality of welding.Aiming at this kind of problem,combined with the characteristics of series mechanism and parallel mechanism,a new type of six-degree-of-freedom(6DOF)series-parallel hybrid welding robot mechanism is designed.The standard D-H model is used to describe the relationship between the adjacent links of the robot,the kinematic model of the robot is established using the Matlab Robotics toolbox,the correctness of the parameters of the robot connecting rod is verified,and the working space of the robot is further calculated.At the same time,a trapezoidal function with parabolic transition is used to plan the end effector of the hybrid welding robot,and the multi-objective trajectory optimization scheme is proposed.The particle swarm optimization algorithm is used to optimize the time parameters,and the optimal time parameters that meet the positioning accuracy of the end of the welding machine manipulator are solved.The simulation results show that the optimized trajectory improves the stability and positioning accuracy of the hybrid welding robot,and lays a theoretical foundation for further vibration analysis and control of the robot.
NETL
NSTL
万方数据
维普
