摘要
以实际工程为研究背景,通过几何建模,建立白车身焊接机器人关节包络简化模型,根据多机器人间的启动时间差和焊点优先权设置,提出一种机器人干涉规避算法,解决多机器人在焊接生产线上的动态干涉问题,最后用ROB-CAD软件建立KUKA机器人仿真模型,验证了该算法的正确性。
In this paper,by uaking the practical engineering as the research background,the joint envelope simplified model of body-in-white welding robot was established by means of geometric modeling.Based on the start time difference and welding spot priority setting among robots,a kind of robot avoidance algorithm was proposed,the dynamic interference problems among robots in welding production line were solved.The KUKA robot simulation model was finally established by ROBCAD to verify the correctness of the algorithm.
出处
《机械设计》
CSCD
北大核心
2011年第3期41-44,共4页
Journal of Machine Design
基金
国家高技术研究发展计划"863计划"资助项目(2008AA04Z105)
关键词
白车身
焊接机器人
焊接生产线
动态干涉
仿真
body-in-white
welding robot
welding production line
dynamic interference
simulation
