摘要
对一种满足'8'字型膨胀波纹管自动焊接的机器人进行研究。分析膨胀波纹管结构特点,提出基于焊接小车、微型跟踪执行机构、微型焊枪、高低跟踪机构的机器人系统机构方案,对机器人系统机构方案进行运动分析,建立基于D-H法则的焊接机器人运动学模型,通过模型分析及Matlab仿真验证机构模型的正确性。结果表明,建立的基于压力检测的焊接小车与微型跟踪执行机构协同作业机制,解决了'8'字形波纹管断面的机器人焊缝轨迹跟踪问题。仿真结果验证了所建机构模型的正确性。
A robot was studied for the automatic welding of ＂8＂ type expandable profile liner（EPL）.The structure characteristics of EPL were analyzed.The welding robot mechanism plan was proposed that was composed of a welding carriage,a mini tracking system,a mini welding gun and a height control system.The motion analysis for the robot mechanism was implemented and the robot kinematics model was built based on D-H rule.The correctness of the model was verified via Matlab simulation and the model analysis. The cooperation work mechanism of the welding carriage and the mini tracking system was established based on the pressure detection,which can realize the ＂8＂ type seam tracking.The simulation results show the validity of the built model.
出处
《中国石油大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第4期119-122,128,共5页
Journal of China University of Petroleum(Edition of Natural Science)
基金
国家'863'高科技研究项目(2009AA04Z208)
