摘要
【目的】旨在基于SolidWorks搭建焊接机器人离线编程系统,研究提高软件通用性和离线编程效率的方法。【方法】首先,该系统以人工交互的方式选择焊缝,并对焊缝进行特征分析及信息提取;其次,依据焊缝形状采用直线、圆弧插补算法或三次多项式插值法拟合生成焊接轨迹;再次,依据焊接工艺结合插值点信息以垂线法或法向量正交法计算插值点处的姿态矩阵,确定了焊枪的初始姿态,可根据用户对焊枪姿态的调整,采用基于四元数的球面线性插值法对焊枪邻域区间姿态插补,优化焊枪位姿;最后,系统以改进的D-H法建立机器人坐标系,以Pieper准则求得机器人逆解完成焊接仿真模块的设计。【结果】该系统可以最大程度保证焊枪运动的柔顺性,提高焊接质量。【结论】所提出的离线编程系统有效提升了软件的通用性与离线编程效率,为焊接机器人自动化和智能化生产提供了可行的解决方案。
[Objective]The aim is to develop an off-line programming system for welding robots based on SolidWorks and improve software versatility and off-line programming efficiency.[Methods]Firstly,the system selects weld seams through manual interaction,analyzes characteristics of welds and extracts the information.Secondly,according to the shape of weld seams,straight line,circular interpolation algorithm or cubic polynomial interpolation method are used to fit and generate welding trajectory.Thirdly,based on welding process and combined with interpolation point information,welding gun’s initial attitude is determined by calculating the attitude matrix at the interpolation point with perpendicular method or normal vector orthogonal method.According to the user’s adjustment of welding gun’s attitude,quaternionbased spherical linear interpolation can be used to interpolate welding gun’s attitude in the neighborhood to optimize welding gun’s attitude.Finally,the system establishes robot coordinate system by an improved D-H method and obtains inverse solution of the robot by Pieper criterion to complete the design of welding simulation module.[Results]The system ensures smooth of welding gun’s movement and improves welding quality.[Conclusion]The proposed off-line programming system effectively enhances versatility and off-line programming efficiency of software,which provides a feasible solution for welding robot automation and intelligent manufacturing.
作者
殷皓
陈海卫
YIN Hao;CHEN Haiwei(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,Jiangsu,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,Jiangsu,China)
出处
《焊接》
2025年第8期52-60,共9页
Welding & Joining
关键词
离线编程系统
二次开发
焊接机器人
焊接规划
off-line programming system
secondary development
welding robot
welding planning
