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建立了Motoman SK6机器人和二轴倾斜/回转焊接变位机的模型,用Denavit-Hartenberg方法建立了机器人操作臂和变位机的运动学方程,实现了运动学正解.根据机构特点用简化的几何解析法得到封闭形式的机器人运动学逆解,并实现了使变位机获得平焊位置的算法.通过机器人系统的运动学和平焊位置算法,可以实现焊缝在平焊位置焊接,从而保证了焊接质量.算法简单,且运行速度快,为实现弧焊机器人系统路径规划和离线编程奠定了基础.经过图形仿真与实际下载到机器人控制柜上运行,表明计算结果可以满足平焊位置焊接的要求.
The model of Motoman SK6 robot and two-axis tilt / rotation welding positioner are established, and the kinematics equation of robot manipulator arm and positioner is established by Denavit-Hartenberg method to realize the kinematic positive solution.According to the characteristics of the mechanism, the simplified geometry The closed form robot kinematic inverse solution is obtained through analytic method, and the algorithm that makes the positioner obtain the flat welding position is achieved. By the robot system kinematics and the flat welding position algorithm, the welding seam can be welded at the flat welding position, Welding quality.The algorithm is simple and runs fast, which lays the foundation for the path planning and offline programming of arc welding robot system.After the simulation and actual download to the robot control cabinet, the results show that the calculation results can meet the welding requirements of the welding position.