Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot

Cai Ganwei; Ban Caixia; Tian Junwei; Zhang Kechen

doi:10.16578/j.issn.1004.2539.2023.12.003

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Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot

Theory·Research | 更新时间：2023-12-21

- Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot
- Journal of Mechanical Transmission Vol. 47, Issue 12, Pages: 19-25(2023)
- 作者机构：
  
  1.广西大学机械工程学院，广西南宁 530004
  2.广西大学土木建筑工程学院，广西南宁 530004
  3.湖南三一工业职业技术学院工程机械学院，湖南长沙 410129
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.12.003
  CLC：
- Published：15 December 2023，
  
  Received：17 September 2022，
  
  Revised：18 October 2022，
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蔡敢为,班彩霞,田军伟等.混联焊接机器人运动学分析及轨迹优化[J].机械传动,2023,47(12):19-25.

Cai Ganwei,Ban Caixia,Tian Junwei,et al.Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot[J].Journal of Mechanical Transmission,2023,47(12):19-25.
蔡敢为,班彩霞,田军伟等.混联焊接机器人运动学分析及轨迹优化[J].机械传动,2023,47(12):19-25. DOI： 10.16578/j.issn.1004.2539.2023.12.003.

Cai Ganwei,Ban Caixia,Tian Junwei,et al.Kinematics Analysis and Trajectory Optimization of the Hybrid Welding Robot[J].Journal of Mechanical Transmission,2023,47(12):19-25. DOI： 10.16578/j.issn.1004.2539.2023.12.003.

摘要

随着机器人工业化及智能化的快速发展，焊接机器人在建筑、机械等领域中广泛应用，而机器人的运动性能和轨迹规划能力直接影响焊接的质量。针对该类问题，结合串联机构和并联机构的特点，设计了一种新型6自由度串并混联焊接机器人机构。运用标准D-H模型描述机器人相邻连杆之间的关系，应用Matlab Robotics工具箱对机器人建立运动学模型，验证了机器人连杆参数的正确性，并进一步计算了机器人的工作空间。同时，采用带抛物线过渡的梯形函数规划混联焊接机器人末端执行器，提出多目标轨迹优化方案，利用粒子群优化算法对时间参数进行优化，求解满足焊接机械臂末端定位精度的最优时间参数。仿真结果表明，优化后的轨迹提高了混联焊接机器人运行的稳定性及定位精度，为进一步开展机器人的振动分析和控制研究奠定了理论基础。

Abstract

With the rapid development of robot industrialization and intelligence

welding robots are widely used in construction

machinery and other fields

and the motion performance and trajectory planning capabilities of robots directly affect the quality of welding. Aiming at this kind of problem

combined with the characteristics of series mechanism and parallel mechanism

a new type of six-degree-of-freedom (6DOF)series-parallel hybrid welding robot mechanism is designed. The standard D-H model is used to describe the relationship between the adjacent links of the robot

the kinematic model of the robot is established using the Matlab Robotics toolbox

the correctness of the parameters of the robot connecting rod is verified

and the working space of the robot is further calculated. At the same time

a trapezoidal function with parabolic transition is used to plan the end effector of the hybrid welding robot

and the multi-objective trajectory optimization scheme is proposed. The particle swarm optimization algorithm is used to optimize the time parameters

and the optimal time parameters that meet the positioning accuracy of the end of the welding machine manipulator are solved. The simulation results show that the optimized trajectory improves the stability and positioning accuracy of the hybrid welding robot

and lays a theoretical foundation for further vibration analysis and control of the robot.

关键词

混联焊接机器人运动学轨迹优化粒子群优化

Keywords

Hybrid welding robotKinematicsTrajectory optimizationParticle swarm optimization

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