关键词: 工业机器人, 协同焊接, 运动链\耦合, 解耦

Abstract:

With the development of welding automation,multi- robot collaborative welding has become a researchhotspot in the field of welding robots.In this paper,based on the coupling and decoupling idea of kinematic chainends,a robot workstation is regarded as the combination of several open kinematic chains connected with joints,thegeneral constraints that must be satisfied by the kinematic chain ends in the welding process are analyzed,and thecoupling/decoupling method of master/slave kinematic chains is explored.Thus,a collaborative welding algorithmof robot workstation is proposed.In this algorithm,the kinematic chain for grasping weldments is taken as the mainchain and the discrete points of welding seam are successively replaced and adjusted to the optimal welding pose,while the other kinematic chains are responsible for the tracking of current discrete points of the welding seam.Mo-reover,by taking a dual- welding robot workstation with one positioner as an example,the effectiveness of the pro-posed algorithm is verified through simulation.

Key words: industrial robot, collaborative welding, kinematic chain, coupling, decoupling