Design and Research of Automatic Welding Robot for Corrugated Plate
In order to improve the automation level of the construction of MARK Ⅲ LNG membrane tank,a automatic welding robot was designed according to the actual welding requirements of its main screen wall corrugated plate.The structure of each part of the robot was designed and analyzed.The kinematics of the robot was solved by D-H parameter modeling method.The effective workspace of the robot was analyzed by Monte Carlo method.The robot model was established by MATLAB toolbox,and the forward motion and trajectory planning were simulated and analyzed.The software and hardware of the robot control system were designed,and an adaptive trajectory tracking system based on Fuzzy PID was designed.Finally,the robot prototype and welding experimental platform were built to verify the function and performance of the welding robot.The results show that the design of the robot structure and software,hardware systems is reasonable,and the tracking error in the process of automatic welding is less than 0.3 mm.With the increase of automatic welding speed,the tracking error increases.While it still can meet the actual welding requirements of corrugated plate of membrane cabin.
membrane tankwelding robotforward and inverse kinematicscontrol systemfuzzy PID
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