电弧传感移动式球头焊接机器人运动学模型.doc

电弧传感移动式球头焊接机器人运动学模型 关键词： 电弧传感；移动式焊接机器人；建模仿真；Simulink 中图分类号： TG156 Kinematics modeling of arc sensing mobile welding robot Li Wenqiang1， Yang Yunhua2 ， Li Xiangwen1， Hong Bo1 （1.Xiangtan University ，Hunan Provincial Key Laboratory of Welding Robots and Applications，Xiangtan411105 China；2. Zoomlion Heavy Industry Science and Technology Co.[KG-*2]，Changsha 410013，China） Abstract： Ball welding of large tower crane is mainly curve welded joint. This paper presented weld tangent method for the use of simplified weld seam tracking method for welding robot， tracking accuracy problems of existing arc sensor for mobile robots. This method can significantly improve the accuracy of curved seam tracking. According to the welding robot kinematics and mechanical characteristic， respectively established these two methods of welding torch moving track of mathematical model and simulation of MATLAB/Simulink model. Under the unified standard， analyzing and comparing these two kinds of methods and application conditions. On this basis， optimizing practical rotating arc welding robot welding torch moving. Through calculation analysis， using welding seam tangent method in ball welding of tower crane is better. Key words： arc sensing； mobile welding robot； modeling simulation； Simulink 1