李文強 陽云華++李湘文++洪波

摘要： 大型塔吊的球頭焊接主要是曲線焊縫，針對現(xiàn)有電弧傳感移動式球頭焊接機器人采用機構簡化焊縫跟蹤方法控制難度大、跟蹤精度低等問題，提出一種焊縫切線法，該方法顯著提高了曲線焊縫跟蹤的精度。根據焊接機器人運動學和機構學的特點分別建立這二種方法的焊炬運動軌跡的數(shù)學模型和Matlab/Simulink仿真模型，在統(tǒng)一的標準下，分析比較兩種方法的特點及適用條件。在此基礎上，對實際的旋轉電弧焊接機器人的焊炬運動進行優(yōu)化。經過計算分析可得，在塔吊球頭自動化焊接中采用焊縫切線法更好。

關鍵詞： 電弧傳感；移動式焊接機器人；建模仿真；Simulink

中圖分類號： TG156

Kinematics modeling of arc sensing mobile welding robot

Li Wenqiang1， Yang Yunhua2 ， Li Xiangwen1， Hong Bo1

（1.Xiangtan University ，Hunan Provincial Key Laboratory of Welding Robots and Applications，Xiangtan411105 China；2. Zoomlion Heavy Industry Science and Technology Co.[KG-*2]，Changsha 410013，China）

Abstract： Ball welding of large tower crane is mainly curve welded joint. This paper presented weld tangent method for the use of simplified weld seam tracking method for welding robot， tracking accuracy problems of existing arc sensor for mobile robots. This method can significantly improve the accuracy of curved seam tracking. According to the welding robot kinematics and mechanical characteristic， respectively established these two methods of welding torch moving track of mathematical model and simulation of MATLAB/Simulink model. Under the unified standard， analyzing and comparing these two kinds of methods and application conditions. On this basis， optimizing practical rotating arc welding robot welding torch moving. Through calculation analysis， using welding seam tangent method in ball welding of tower crane is better.

Key words： arc sensing； mobile welding robot； modeling simulation； Simulink