基于参考轮的轮式移动焊接机器人运动控制的分析-analysis of motion control of wheeled mobile welding robot based on reference wheel.docxVIP

AbstractAs economy and industry moving forward, more and more important large welding parts were put into use. Welding robot can stabilize and improve the welding quality, raise labor productivity, water down operative technique requirements, short lead time in modifying the models and modifications of the products and cut down cost in equipments investment. The demands of markets in practical use becoming stronger, especially in some special field, such as welding the chamber and the deck of large ship or the large spheroid and so forth, the traditional welding way with manipulators can’t meet the needs. Integrated welding tracking automation and wheeled mobile robot was the key to solve these problems. However, almost all driving wheel were derived separately which was against the coordination control. Besides, the mathematical models of the existing welding robots need too much matrix inversion calculation which added the complexity of the system in the real-time control. Furthermore, the commonly used way of PID or Fussy control did have its own limitation in practical production. What’s more, the hardware circuits need to be optimized too, take the driving circuits for the stepper motor, the speed measuring and phase demodulation circuit of the digital encoder and the power system. Above all, the research of this paper covered the range of matters were as following:Firstly, following the whole system of the wheeled mobile welding robot, the design of the mechanical system, the walking mechanism and its cross slide block were introduced briefly. Besides, it also talked about the choice of driving motor, the sensors and the control system chip.Secondly, to optimize the hardware circuits system, three kinds of circuits which produced rectangular pulse were simulated by Multi-SIM9. By make comparisons, a circuit with stable signal, simple structure and ease in regulation was chosen to optimize the drive circuits. Analyzed the theory of measuring speed with digital