作　　者： ; ; (彭灿灿）; (李钰桢）; (岳海瑞）; (杨锦辉）;

机构地区： 华南理工大学机械与汽车工程学院

出　　处： 《电焊机》 2014年第4期101-104,共4页

摘　　要： 为了实现焊接过程中对复杂焊缝的焊接,运用Pro/Toolkit与Visual Studio 2005搭建的Pro/Engineer二次开发环境对PUMA焊接机器人进行参数化建模,实现在Pro/Engineer中快速调查整机器人主要参数;运用D-H参数法在MATLAB中对机器人建立空间位姿模型,运用MATLAB软件对机器人进行运动仿真,精确控制焊枪嘴运动轨迹,以实现对复杂焊缝的焊接。仿真结果表明,建立的仿真模型可以实现对复杂焊缝的焊接。 To realize welding complex welding seam in the welding process,a Pro/Engineer Secondary development environment was created by using Pro/Toolkit and Visual Studio 2005. A 3D model of the PUMA Welding Robot was built in parametric way,in which the main parameters of the robot can be easily modified. To describe the precise position of the welding mouth,D-H parameter method was used .With the help of MATLAB＇s powerful data processing capacity,the robot was controlled to move the way that the data MATLAB calculated asked it to. Then,it accomplished welding complex welding seam.Simulation results showed that the model established in this paper can realize welding the complex welding seam precisely.

关 键 词： 焊接机器人 二次开发 参数化建模 参数 运动仿真

领　　域： [金属学及工艺]