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设计了一种XYZR型四自由度直角坐标焊接机器人,传动机构由x、y、z三个方向上的滑动机构和一个R方向的转动机构组成,转动机构连着末端执行机构即焊枪,在控制系统作用下,通过各个传动机构的运动实现末端执行机构的焊接功能。利用D-H参数法建立XYZR焊接机器人的运动学方程,对机器人的末端执行机构的运动进行理论推导,并利用ADAMS软件对机器人的末端执行机构进行运动学仿真研究,最后运用半实物仿真平台对焊接轨迹进行仿真测试。结果表明,由4个关节引起的运动的机器人末端位移、速度曲线变化平稳,验证了结构设计的合理性,为机器人控制系统的设计提供了依据。
An XYZR four-DOF rectangular welding robot is designed. The transmission mechanism consists of a sliding mechanism in three directions of x, y and z and a rotating mechanism in the R direction. The rotating mechanism is connected with the end effector, Under the function of the system, the welding function of the end effector is realized through the movement of each transmission mechanism. The kinematic equation of XYZR welding robot is established by DH parameter method, the movement of the robot’s end effector is theoretically deduced, and kinematics simulation of the end effector of the robot is carried out by ADAMS software. Finally, the semi-physical simulation platform is used to analyze the welding trajectory Simulation test. The results show that the end displacement and velocity curves of the moving robot caused by the four joints change smoothly, which proves the rationality of structural design and provides the basis for the design of robot control system.