焊接视觉跟踪机器人数学建模和工作空间分析

摘要： 针对大构件相贯线型空间焊缝的视觉跟踪方法，设计并制造了8自由度焊接视觉跟踪机器人.描述了一种空间机器人建模方法，主要思路为将移动坐标系从绝对坐标系原点，顺着关节机构移动到机器人末端工作点，运用此法对机器人进行数学建模并仿真，得到机器人运动学正解，运用数值法对机器人进行工作空间分析，得到工作空间三维图和侧向剖面图.仿真结果证明数学建模方法的有效性，空间分析结果表明本机构工作空间无空洞，工作范围符合设计要求.最后用物理样机对空间曲线型焊缝进行运动跟踪实验验证.

Mathematical Modeling and Workspace Analysis of Visual Tracking Robot for Welding

Abstract： This paper describes a space robot modeling method. The main idea is to shift the moving coordinate system to the working point of the robot by following the mechanisms and joints. The robot was modelled to get the forward kinematics results and then simulated in Matlab. By analyzing the robot workspace with numerical method, the isometric view and profile of the workspace were obtained. The simulation experiments show that the mathematical modeling method is effective. The result of workspace analysis shows that the workspace is big enough without hole, which meets the demand of tracking. The motion tracking test on curve in space with the physical prototype is satisfactory.