移动焊接机器人结构设计与路径规划

针对大型焊接件生产中存在的大范围复杂焊缝以及狭窄空间内部焊接条件恶劣的情况，设计一种新型移动焊接机器人。采用3个独立驱动的OMNI全向轮作为机器人的移动机构，同时在移动机构底盘安装支撑轮及可调节磁吸附装置，并设计五自由度机械臂作为焊接执行机构；对机器人移动平台与机械臂分别进行运动学分析以及整体运动学分析，推导出机器人末端执行器与驱动轮、机械臂关节角位移之间的函数关系；针对曲率变化较大的焊缝难以焊接的问题，提出基于改进粒子群优化算法的多段直线逼近曲线的移动平台路径规划算法，并用MATLAB仿真验证了该路径规划算法可以完成任意曲率曲线的焊缝离散化，在满足焊接精度的前提下，能够减少焊缝离散点数目，提高了移动平台路径规划的效率。

Structure Design and Path Planning of Mobile Welding Robot

In view of the large range of complex welds and the poor welding conditions in the narrow space in the production of large weldments,a new type of mobile welding robot was designed.Three independently driven OMNI wheels were used as the mobile mechanism of the robot,and the supporting wheel and adjustable magnetic adsorption device were installed on the chassis of the mobile mechanism at the same time,and the 5-DOF manipulator was designed as the welding actuator.The kinematics analysis of the robot mobile platform and the manipulator and the whole kinematics analysis were carried out respectively,and the functional relationship between the end effector of the robot and the angular displacement of the drive wheel and the manipulator joint was deduced.Aiming at the problem that the weld path with large curvature changes is difficult to weld,a path planning method of mobile platform based on improved particle swarm optimization algorithm and multi-segment straight line approximation curve was proposed,and the path planning algorithm was verified by MATLAB simulation to complete the discretization of the weld with arbitrary curvature curve.So the number of discrete points of the weld is reduced,the efficiency of path planning of the moving platform is improved under the premise of satisfying the welding accuracy.