基于相贯线焊缝的机器人焊接轨迹优化

范晨晖; 刘欢; 刘玄; 唐湘

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基于相贯线焊缝的机器人焊接轨迹优化

更新时间：2024-10-21

- 基于相贯线焊缝的机器人焊接轨迹优化
- Robot welding trajectory optimization based on intersecting line welds
- 机械传动 2024年页码：1-9
- 作者机构：
  
  1.湘潭理工学院汽车工程学院，湘潭 411100
  2.湖南农业大学机电工程学院，长沙 410128
- 作者简介：
  
  范晨晖，男，1991年生，湖南湘潭人，硕士研究生，讲师；主要研究方向为机器人轨迹规划；liuxuan1234562024@163.com。
- 基金信息：
  
  湖南省科技人才托举工程项目(2022TJ-Q05)
- DOI：
  中图分类号： TP24;TP202.7
- 网络出版日期：2024-10-21，
  
  收稿日期：2024-06-07，
  
  修回日期：2024-08-13，
- 稿件说明：
移动端阅览
范晨晖，刘欢，刘玄等.基于相贯线焊缝的机器人焊接轨迹优化[J].机械传动，XXXX，XX(XX)：1-9.

FAN Chenhui，LIU Huan，LIU Xuan.Robot welding trajectory optimization based on intersecting line welds[J].Journal of Mechanical Transmission，XXXX，XX(XX)：1-9.
范晨晖，刘欢，刘玄等.基于相贯线焊缝的机器人焊接轨迹优化[J].机械传动，XXXX，XX(XX)：1-9. DOI：

FAN Chenhui，LIU Huan，LIU Xuan.Robot welding trajectory optimization based on intersecting line welds[J].Journal of Mechanical Transmission，XXXX，XX(XX)：1-9. DOI：

摘要

目的

在焊接和喷涂等非接触加工中，运行效率、平稳性和能耗一直是工业机器人轨迹优化的瓶颈问题。为此，提出了一种基于改进粒子群算法的轨迹规划方法。

方法

首先，提出一种基于平滑路径的加速度连续性约束方法，使机器人各关节的速度、加速度和急动度是有界和连续的；其次，提出一种可变角插值法来选择最优焊枪末端轨迹离散点；最后，采用精英突变策略的粒子群求解最优能耗对应的时间序列，提出一种应用平均模糊隶属度函数筛选出帕累托前沿最佳解的方法，进而规划出能耗的最优连续运动轨迹。

结果

试验结果表明，该方法从最佳时间、冲击的平衡以及加速度的连续性三个方面进行了提升；对比标准粒子群和遗传算法寻优能力分别提升22.83%和25.63%。Adams动力学仿真和实际焊接试验结果显示，规划轨迹满足工业焊接需求。

Abstract

Objective

Operational efficiency

smoothness and energy consumption have been bottlenecks in the trajectory optimization for industrial robots in the non-contact processing such as welding and painting. To this end

a trajectory planning method based on the improved particle swarm algorithm was proposed.

Methods

Firstly

an acceleration continuity constraint method based on smooth paths was proposed so that the velocity

acceleration and jerk of each joint of the robot were bounded and continuous. Secondly

a variable angle interpolation method was proposed to select the optimal torch end trajectory discrete points. Finally

a particle swarm with an elite mutation strategy was used to solve the time series corresponding to the optimal energy consumption. A method was proposed to apply an average fuzzy affiliation function to screen out the best solution of the Pareto front

and then the optimal continuous motion trajectory of energy consumption was planned.

Results

The experimental results show that the method improves the optimal time

the balance of shocks and the continuity of acceleration

and improves the optimization ability by 22.83% and 25.63% compared to the standard particle swarm and the genetic algorithm

respectively. Planning trajectories to meet industrial welding requirements were shown by Adams dynamic simulation.

关键词

相贯焊缝轨迹规划精英突变改进粒子群算法模糊隶属度

Keywords

Intersecting weldTrajectory planningElite mutationImproved particle swarm optimization algorithmFuzzy affiliation

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