钱江一号焊接机器人运动学仿真【说明书论文开题报告外文翻译】
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0译文题目： Qj-1 welding robot kinematics simulation钱江一号焊接机器人运动学仿真 Qj-1 welding robot kinematics is introducedBy the space and the needs of industrial robot is a typical light, machines, electrical integration of high-tech products, generally refers to the workshop environment, with automated production, instead of people to complete the material or parts handling, processing, assembly operations such as a robot. Industrial robot is defined as a kind of automatic positioning control, repeatable programming, multi function and multi degree of freedom manipulator. The operation of machine is defined as: a human arm similar action function in grasping objects or other mechanical device 111. Industrial robot manipulator (mechanical body), controller, servo drive system and sensing device composition. Is a humanoid operation, automatic control, repetitive programming to complete the various operations of mechanical and electrical integration of the automatic production equipment in 3D space. Particularly suitable for in the multi varieties, and batch production flexibility. It to stabilize, improve product quality, improve production efficiency improve labor conditions and product fast renewal of generation plays a very important role. 1. IntroductionIn foreign countries, the industrial robot technology matures, has become one of the standard equipment is applied widely in the industry. Thereby, have formed a number of influential, famous industrial robot company. They include: Sweden ABBRobotics, FANUC, Yaskawa, KUKARoboter German and American tTeclm01ogy, AillerieanRobot, EmersonIndustrialAutomation, s a TRoboties, Italy Comau, British an ToTeehRoboties, JedIntemationalRobotics Canada, Israel 1RobogrouPTek company, these companies have become pillar industries in the region. From 1985 to 2004, worldwide Japanese industrial robot retains the quantity has been far more than other countries, especially in 1985 after ten years growth was quite rapid. Thus it can be seen that Japan is a veritable robot powers 16,7. and in contrast, while Europe and the United States industrial robot to retain units has remained ascendant trend Potential, but only in the last 10 years or so only grow larger, and other Asian countries of the industrial robot retains the quantity is in the last 10 years have very large growth. In our country, industrial robot really have been in use for more than 20 years of time has basically realized the test and introduced into the transformation of independent development, promote our country manufacturing industry, the exploration industry development.2. welding robot system and its characteristics Robot system by the robotic arm, controller, actuator, shown the teach box welding, welding machine, machine and rotary table etc. peripheral device, welding fixture, safety device, as shown in Figure 1. For the motor drive robot, controller and driver generally installed in a control cabinet; for the intelligent robot, there should be a sensing system, such as laser and camera sensor and control device etc.2Figure 1l) Robot arm. The robot arm manipulator robot operation, direct drive terminal operating device to realize all kinds of sports and operating, it completely according to the mission and the pursuit of the goal is high accuracy, high speed, high flexibility, large working space and modules. The main structure form has 3 kinds: machine tools, commonly used in the simple and special welding robot; articulated the position and attitude by rotary motion, is at present mainly by the manipulator; planar articulated, in addition to the up and down movement by linear motion, the other all rotary motion, widely used in assembly robot2）Drive. Due to the welding robots are mostly adopts the servo motor drive, here are four common types of motor drive. Stepper motor driver, the stepper motor, especially microstep stepper motor as driving source, are generally open loop control, mostly for economic type industrial machine; DC servo motor system, to realize the position, speed, acceleration close loop control, high precision, speed range, and good dynamic performance; AC servo motor drive system with AC servo motor system, it has all the advantages of DC servo system. Because no AC motor carbon brush, dynamic characteristics of a good, new robot not Only the accident rate is low and Zhejiang University Masters degree thesis introduction maintenance free time increase plus (minus) speed is also fast, is a robot in the promotion of the use of; direct drive motor drive is the latest development of robot drive, direct drive motor, at low speed can still output stable power and high dynamic performance, cancel the retarding mechanism, can directly drive the joint. It not only simplifies the mechanism and improve the efficiency. It is the developing direction of robot driven. A joint a drive is adopted by the robot driver is arranged. A drive to the basic components: power supply, the power amplifier board, servo control board, motor, goniometry And speed and brakes. Robot driver is a demanding drive system, it should not only ensure to provide enough power to drive the joints of the robot arm, and to realize the fast and frequent starting and stopping, accurately in place and movement. So it is necessary to use the position closed loop, speed closed loop and acceleration close loop and three loop motion, so in the drive is equipped with high precision angle measuring, speed sensor. At the same time, to protect the motor and the circuit, but also closed loop current.3Figure 23) Controller. The robot controller is the core components of the robot, it implements the robot all information processing and of robot arm motion control. Figure 1.3 is typical welding robot controller system working principle diagram. Welding robot controller is used mostly secondary computer structure, within the dashed box for the first level computer. Its task is planning and management. Robot teach mode, accept teaching system brought the show to teach point position and attitude information, motion parameters and process parameters, and by computing the teaching (joint coordinates into Cartesian coordinates, are stored in a computer memory. Robot in the reproduction state Coordinate values of memory, from point to point out its position and attitude coordinate value according to a certain time to the beat (also known as the sampling period) of the circular or linear interpolation arithmetic to calculate the interpolation point position and attitude. This is the path planning. Then point to each interpolation point position and attitude coordinate values are converted into joint coordinate values are distributed to each joint. This is the first level computer programming. The second level computer is the implementation of the computer, its task is to carry out servo motor closed-loop control. It receives the first level computer sent the festival next step is expected to reach the position and attitude, and a uniform subdivision, in order to transport Dynamic trajectory smoother. Then each joint of a fine step expected value point by point to the drive motor, photoelectric encoder signal 4was detected at the same time, until the exact place. Above all on real-time process, most of the above operations must completed in process control.4)Teach box. Teach box is the robot teach the human-computer interaction interface, the people of the robot has 3 kinds: hand to teach, also known as the whole teaching, namely the person holding the robot manipulator end to drive the robot according to the actual task operation again; teaching box teaching, namely the teach box manipulation robot teaching, which is the most commonly used robot teaching mode, the welding robot are used this way; off-line programming teaching, that is, without human operation robot field, and according to the pattern in computer programming, and then lost to the robot controller, it has not accounted for artificial machine, easy to And the advantages of more security, so it is the direction of future development5) Welding. Welding of form a complete set of robot welding general to digital welding machine based, such as Panasonic welding robot welding machine supporting the Panasonic digital welding machine and to secure interface, Yaskawa welding robot welding machine supporting the by Hitachi on behalf of the company for the development of, and bought out the types of welding machine, at the same time, the interface of secrecy. Due to the price and technical problems, in the choice of welding some domestic manufacturers the workarounds, such as Shougang a motorcycle man robot company can for manufacturers to provide ordinary semi digital welding machine by adding control interface modification scheme, with production and mechanical arm, which in a certain extent reduces the overall cost, In the welding quality can satisfy the user demand. Now mature welding robot actuator is widely used in AC servo motor driven 6-DOF serial robot, the working space large, flexible rotation, speed, problems is a joint error by institutional level amplification, but from the point of view of existing products, the servo controller and the control strategy, the problem has been very good solution.Technical characteristics of welding robotWelding robot is a revolutionary progress in welding automation, it breaks through 5the traditional rigid automation welding, opening up a new way of flexible automation. Welding robot enable automation of small batch products welding production possible, due to the robot teaching and playback function, welding machine can in a welding robot production line, automatic production of several kinds of welding. Welding robots main advantages are as follows:1）stability and improve the welding quality, ensure its uniformity, can realize small batch product welding automation.2） to improve the working conditions of workers, and can work in a hazardous environment for a long time.3）capable of continuous production, improve production efficiency, reduce the requirements of the operation of workers.4) shorten the cycle of product modification, reduce the corresponding equipment investment.Currently widely used in the production of welding robot are mainly two kinds of welding robot and arc welding robot. The research of welding robot belongs to the arc welding robot, so the following to arc welding robot as an example to introduce welding robot. Welding robot is welding system including various arc welding auxiliary device, including, not just a planning of velocity and attitude to carry move the torch on a single machine, and the performance has a special requirements. In the welding work, the gun should be workpiece motion tracking weld, welding and continuous filler metal weld formation. Therefore, speed in the process of movement stability and trajectory accuracy are two important indicators. Robot welding process, due to the influence of various environmental factors in the welding, the actual welding conditions tend to lead welding torch deviation, resulting in welding quality decreased and even failure. According to the welding conditions change requirements of arc welding robot can real-time detect the weld deviation, and adjust the welding path and welding parameters by using arc sensor and optical sensor of the seam tracking technology, to ensure the reliability of the welding quality. Rotating arc sensor deviation detection, high sensitivity, better control performance. Optical sensor includes infrared, electro-optical, laser, vision, spectral and optical fiber type, enhance 6welding robots ability to adapt to the outside. Excited Optical tracking sensor has superior performance and become one of the most promising, fastest-growing welding sensor. On the other hand, due to the modern fuzzy mathematics and neural network and its application to welding the complex nonlinear system, making seam tracking entered a new era of intelligent seam tracking 11 “2l. of arc welding robot with gas shielded arc welding method, usually the thyristor type, inverter, waveform control, pulse or non pulse type of welding power source can be mounted to the robot arc welding. Due to the robot control cabinet is controlled by digital welding power supply for analog control, so the need for welding power supply and the control cabinet. Add an interface. Wire feeding mechanism can be mounted on the robot arm, can also be placed outside of the robot, the former gun to send silk machine between the hose is short, is conducive to maintaining the stability of the wire feeding and hose principal, when the robot to gun sent to a certain position, soft tube in a curved state, will seriously affect the wire quality. So, to send silk machine installation must consider to ensure the stability of the wire.3. Qj-1 welding robot kinematics simulation3.1 Brief introduction of robot kinematics simulationRobot simulation should be able to complete one or more categories of robot kinematics, dynamics, trajectory and control algorithm, graphic display and output function. Generally speaking, robot simulation technique involves the scope is very wide, but can be roughly the robot simulation system is divided into two categories: Design of robot must have the structure analysis and motion simulation analysis technology; support robot programming simulation technology. Simulation technology can also help users to choose the specific operating environment of agricultural production robot type 3 knife. Graphical simulation of the robot, robot simulation results is expressed in the form of graphics can be, which intuitively shows the machine Homogeneous transformation is obtained from data curve or the data itself to the analysis of many important information, can also graphically see robots in a controlled movement under the condition of. Qianjiang No. a 3D graphic robot 7simulation system will be in the fifth chapter of this paper discusses the. Kinematics simulation of the robot in the development or analysis of a robot system is very necessary. It can realize the robot joint coordinates of robot kinematics or check inverse problem solving is correct and realize the function of joint trajectories for real-time detection and robot dynamic demo, can be used for teaching the robot, can also be applied in the machine The industrial environment for real-time detection and has better application value. Kinematics simulation is different from the dynamics and control simulation, because the dynamics and control simulation is an ignore many secondary factors and by means of linearization and approximate model, so simulation and the reality of May, there is a large gap between; but kinematics simulation result is completely true and reliable, which by the kinematics, formula of inverse problem of accurate and reliable assurance. In robot kinematics simulation were also a lot of research, such as the combination of vRML and MATLAB is developed with high efficiency and low cost of arc welding robot simulation software 33; comprehensive VC + + 6.0 And advantages of OpenGL, and Zhejiang University Masters degree thesis Qianjiang No. a welding robot kinematics and Simulation of MATLAB6.0 of positive solutions of three kinds of software, the establishment of general simulation test platform for robot 34, with six degrees of freedom is the simulation of 3D motion as the background, using SolidWorks COSMOSMOTION to realize the manipulator motion simulation of effective methods of six degree of freedom robot 3D modeling 35; using DELMIA software of robot kinematics problem of verification and simulation 36; through the network of robot for remote simulation and control of customer The end of 37; based on MATLAB and its toolbox and based on Virtual Prototype Technology ADAMSRobot simulation 138 “ and so on.。The kinematics simulation includes：1) space robot is described. Kinematics problem is already known joint angle, solution to the end of the robot position and attitude, so in known each joint angle range of motion conditions, using kinematics is the problem can be well solved spatial 8motion analysis problem, to assess whether meet the requirements。2) check and perfect inverse kinematics formula. Robot inverse kinematics solving process is very complex, often encounter many problems. And the vast majority of the motion control of the robot is established in the right set of kinematics forward and inverse solutions of problem solving formula based on, the tomb in the motion control. The simulation discovery and solve the problem, ensure that the robot kinematics, inverse solution is accurate and reliable, the robot motion control to provide the necessary conditions。3) The rationality and validity of the 3) verify the algorithm for robot. Under specific conditions, according to the robot motion algorithm for motion simulation, trajectory tracking simulation curves are obtained; through the actual robot simulation curve of the actual work can be obtained. The obtained curves are
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