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基于变位机-机器人主、从运动链末端的耦合约束关系,提出以船型焊为最佳焊位时的协同焊接运动学模型及参数求解流程。变位机-机器人协同焊接阀体密封面的运动仿真和现场试验表明,该系统能够平稳、准确地完成预期的焊接任务,证实了协同焊接运动学模型及参数求解方法正确可行。
Based on the displacement and robot-robot coupling constraints from the end of the kinematic chain, the kinematic model of collaborative welding and the process of parameter solving are presented when the ship-type welding is the best welding position. The motion simulation and field test of the sealing surface of the robot and the collaborative welding robot show that the system can finish the expected welding task smoothly and accurately, and confirm the correctness and feasibility of the kinematic model of collaborative welding and the method of parameter solving.