Study on Planning Method of Joint Space Optimal Path for Solder Robot
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摘要: 为减少焊接机器人点焊工况中的耗时、耗能, 提出一种基于关节空间的最优路径规划方法。首先, 对3-RRR并联焊锡机模型进行分析, 通过几何法建立该并联焊锡机的运动学模型。其次, 建立基于关节空间角度加权和的路径规划数学模型, 并设计一种带有精英策略和信息挥发因子自适应调节函数的改进蚁群算法对该模型进行优化。最后, 针对3-RRR并联焊锡机的焊锡工况, 使用所改进蚁群算法对该焊锡机的关节空间角度加权和最优路径进行规划。仿真数据表明, 与传统的笛卡尔空间下的最优路径规划相比, 基于关节空间角度加权和数学模型的最优路径规划缩短了关节总的角度变化值, 能实现焊锡机器人的快速焊锡作业, 对提高传统焊接机器人的加工效率和减少机器人能量损耗具有一定的参考价值。Abstract: In order to reduce the time and energy consumption in spot welding, a planning method based on joint space optimal path is proposed. Firstly, the model for 3-RRR parallel soldering machine is analyzed, and the kinematics model for 3-RRR parallel soldering machine is established via geometric method. Secondly, a model for path planning based on joint space angular weighted sum is established, and an improved ant colony algorithm with elite strategy and information volatile factor adaptive regulation function is used to optimize the model. Finally, the improved ant colony algorithm is used to plan the joint space angle weighting and the optimal path of 3-RRR parallel soldering machine. The simulation data show that, comparing with the optimal path planning under the traditional Cartesian space, the optimal path planning based on the joint space angular weighting and mathematical model can shorten the total joint angle variation, and can realize the soldering robot's fast soldering operation. This path planning method has certain reference for improving the machining efficiency of the traditional welding robot and reducing the energy loss of the robot.
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表 1 焊点位置点及对应的关节空间角度值
焊点位置/mm φ1/(°) φ2/(°) φ3/(°) (0, 0) 87.95 -152.17 -32.11 (40, 20) 81.43 -154.78 -23.68 (100, 20) 70.16 -154.58 -16.4 (60, 40) 78.39 -158.59 -17.92 (80, 40) 74.6 -158.62 -15.37 (20, 60) 86.48 -163.07 -20.76 (50, 54) 80.65 -161.46 -17.11 (60, 80) 84.9 -166.76 -16.19 (100, 80) 71.29 -167.19 -6.05 (20, 100) 86.91 -170.75 -14.91 (60, 24) 77.85 -155.3 -20.44 (90, 90) 73.29 -168.95 -5.54 (30, 15) 83.08 -154.01 -25.78 (70, 35) 76.35 -157.54 -17.43 (60, 70) 79.04 -164.62 -13.13 (55, 27) 78.9 -155.97 -20.62 (48, 92) 81.52 -168.94 -11.38 (70, 70) 77.11 -164.66 -11.71 
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表 2 关节空间和传统笛卡尔空间路径规划比较
路径规划 焊点路径距离和 关节空间角度加权和 基于笛卡尔空间 430.75 mm 176.26° 基于关节空间 473.64 mm 158.68° 两种模型差值 42.89 mm 17.58°
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