發(fā)布時(shí)間：2018-06-14 12:04

  本文選題：協(xié)同焊接 + 變位機(jī)�。� 參考：《計(jì)算機(jī)集成制造系統(tǒng)》2016年11期

【摘要】：為了獲得與時(shí)間序列相對(duì)應(yīng)的離散焊點(diǎn)位姿,以更易于求得焊槍—焊點(diǎn)間的相對(duì)位姿,提出基于弗萊那—雪列矢量理論的曲線焊縫中離散焊點(diǎn)的位姿求解及焊縫坐標(biāo)系構(gòu)建方法�；�于變位機(jī)—機(jī)器人主、從運(yùn)動(dòng)鏈末端的耦合約束關(guān)系,提出以船型焊為最佳焊位時(shí)的協(xié)同焊接運(yùn)動(dòng)學(xué)模型及參數(shù)求解流程,據(jù)此求得協(xié)同焊接過程中機(jī)器人和變位機(jī)的關(guān)節(jié)轉(zhuǎn)角、角速度和角加速度。變位機(jī)—機(jī)器人協(xié)同焊接閥體密封面的運(yùn)動(dòng)仿真和現(xiàn)場(chǎng)實(shí)驗(yàn)表明,該系統(tǒng)能夠平穩(wěn)、準(zhǔn)確地完成預(yù)期的焊接任務(wù),證實(shí)了所提協(xié)同焊接運(yùn)動(dòng)學(xué)模型及參數(shù)求解方法正確可行,為研發(fā)自動(dòng)化焊接生產(chǎn)線奠定了必要的基礎(chǔ)。
[Abstract]:In order to obtain discrete orientation of solder joint corresponding to time series, it is easier to obtain the relative orientation between welding torch and solder joint. This paper presents a method to solve the position and pose of discrete solder joints in curved welds based on Flina-Shelley vector theory and to construct the coordinate system of the welds. Based on the coupling constraint relationship between the robot and the positioner, the kinematics model and parameter solving process of the cooperative welding with ship type welding as the best welding position are proposed. Based on this, the joint rotation angle, angular velocity and angular acceleration of robot and positioner are obtained. The motion simulation and field experiment of positioner and robot cooperative welding valve body seal surface show that the system can smoothly and accurately complete the expected welding task, and proves that the proposed kinematics model and parameter solving method for cooperative welding are correct and feasible. For the development of automatic welding production line laid the necessary foundation.
【作者單位】： 上海工程技術(shù)大學(xué)機(jī)械工程學(xué)院;偉巴斯特車頂供暖系統(tǒng)(上海)有限公司研發(fā)部;
【分類號(hào)】：TP242.3

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本文編號(hào)：2017311