Analysis and Research of Six-dof Relding Robot Motion Control Accuracy
|School||Zhejiang University of Technology|
|Course||Mechanical and Electronic Engineering|
|Keywords||six-dof robot kinematics analysis error compensation|
Due to various reasons, the actual position of the welding torch of the welding robot is deviated from its theoretical position, causing the welding error. Therefore, the precision of the welding robot is the very important factor of deciding its application level, and the precision of the domestic welding robot are far lower than that of abroad.In the dissertation, the motion control precision of the 6-dof welding robot is researched systematically, the chapters are outlined as follows:In the first chapter, the important position of welding robot in today’s society is pointed out, composition and classification of the welding robot is interpreted, the domestic and foreign research status of welding robot is analyzed, the research content of the dissertation is expounded.In the second chapter, the kinematics model of the welding robot is established, and the kinematics simulation of 6-dof welding robot is operated by the robotics toolbox in MATLAB. Two schemes of the key part in second joints of 6-dof welding robot are presented through the ANSYS WORKBENCH which is a finite element analysis software. And then analyzed the response of the two schemes through simulation of MATLAB to these two kinds of solutions, ultimately proved the superiority of the second scheme.In the third chapter, the error sources of six-dof welding robot is analyzed, and the different effects of structure error and force deformation error acted on the end of the welding robot is researched, in the structure error, the influence of angle error and length error acted on the robot is studied, and for the force deformation error, with the aid of the finite element analysis software ANSYS WORKBENCH,the influence of force deformation error acted on the end precision of robot is researched, In the last, the compensation plan is put forward. Finally perturbation method is used for 6-dof welding robot compensation research and simulation analysis, proof the rationality and validity of the error compensationIn chapter four, the structure error compensation and force deformation error compensation of 6-dof welding robot is researched by the experiment. Based on this, the error compensation is verified for improving the absolute precision of robot.In chapter five, summarizes the papers in the process of finish the work, and the prospect of further research is made.