CAJ | 학술논문

随着焊接自动化进程的不断推进，多机器人协同焊接作业成为了焊接机器人领域的研究热点。文中基于运动链末端耦合与解耦的思想，将机器人工作站视为若干条通过关节连接而成的开式运动链的组合，通过分析各运动链末端在协同焊接过程中必须满足的通用约束，研究机器人工作站中各主/从运动链的耦合与解耦方法，进而提出了一种机器人工作站协同焊接算法。该算法以负责夹持焊件的运动链为主运动链，使焊缝离散点依次更替并调整到最佳焊接位姿，其他运动链末端跟踪当前焊缝离散点。文中还以变位双焊接机器人工作站为例，通过仿真验证了所提出的协同焊接算法的有效性。
수착한접자동화진정적불단추진，다궤기인협동한접작업성위료한접궤기인영역적연구열점。문중기우운동련말단우합여해우적사상，장궤기인공작참시위약간조통과관절련접이성적개식운동련적조합，통과분석각운동련말단재협동한접과정중필수만족적통용약속，연구궤기인공작참중각주/종운동련적우합여해우방법，진이제출료일충궤기인공작참협동한접산법。해산법이부책협지한건적운동련위주운동련，사한봉리산점의차경체병조정도최가한접위자，기타운동련말단근종당전한봉리산점。문중환이변위쌍한접궤기인공작참위례，통과방진험증료소제출적협동한접산법적유효성。
With the development of welding automation,multi-robot collaborative welding has become a research hotspot in the field of welding robots.In this paper,based on the coupling and decoupling idea of kinematic chain ends,a robot workstation is regarded as the combination of several open kinematic chains connected with joints,the general constraints that must be satisfied by the kinematic chain ends in the welding process are analyzed,and the coupling/decoupling method of master/slave kinematic chains is explored.Thus,a collaborative welding algorithm of robot workstation is proposed.In this algorithm,the kinematic chain for grasping weldments is taken as the main chain 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.