一种焊接机器人的运动学分析及轨迹规划方法

首先, 设计了一种焊接机器人的机构, 改进了传统串联式焊接机器人因电机安装在关节处而带来的动力学上的不足. 然后, 使用D-H 坐标系法进行了正运动学求解, 并利用反变换法进行了逆运动学求解. 之后, 提出了一种新的轨迹规划方法, 通过求解目标轨迹上一系列离散点的逆解, 并利用Matlab 软件对逆解进行多项式拟合, 将输入函数转化成简单的多项式表达形式, 为下一步设计控制系统提供了一条更简捷的途径. 最后, 利用Pro/E 软件的机构仿真对该方法进行了验证, 证明了其准确性.

Kinematics and Trajectory-Planning of a Welding Robot

The structure of a welding robot is designed to overcome the problem of low strength in traditional tandem welding robots caused by placing the motors on revolute joints. The forward and inverse kinematic problems are solved using the D-H method and the inverse transform method, respectively. The inverse solution of the points on the locus is obtained by polynomial-fitting with Matlab. Thus the input functions are described with a polynomial, providing a simple method to design the control system. The method in a mechanism simulation is verified by Pro/E.