基于坡口特征的相贯接头焊接机器人连续轨迹规划

针对海洋平台贴接式管道接头专用焊接机器人的运动控制模型进行了研究.设计了一种5自由度串联结构机器人,在较小的机器人本体尺寸及重量的前提下,满足机器人对工作空间及导管架空间狭小处安全避障的需要.建立了机器人正、逆运动学模型,针对该机器人带有两个同向转动关节特点,提出采用两步法求解机器人关节值；为保证焊接时关节运行稳定性,提出采用极限法求导各关节速度.结果表明,该机器人可以很好的满足管道相贯接头的自动焊接工作,所建立的数学模型可用于考虑坡口特征的相贯接头焊接机器人连续轨迹规划工作.

Continuous trajectory model of intersecting joint welding robot based on groove feature

A continuous trajectory mathematical model was established for offshore platform jacket welding robot. The robot with 5 degrees of freedom has enough workspace to finish automatic welding of Y joint and flexibility to meet the requirement for obstacle avoidance in K-joint welding. The kinematics of the robot was built according to the robot structure. Since this robot has a redundant degree of freedom,the joint value was calculated by two steps methods. To ensure the motion stability of the robot,the joint velocity was calculated by derivation operation of joint value through limited method. The simulation result shows that this robot can achieve automatic welding of the K,Y, T joint,and the mathematical model of joint value and velocity can be used to control this robot.