基于UG的弧焊机器人离线偏程与统计方法的焊接质量判定

2ABSTRACTWith the people's daily improving the living conditions,the one-commoditymodel can't meet people demands for commodity diversification.Therefore,themodels of small-batch and diversification production are born at the right moment.Higher requirements for productions relevant to welding robot are put forward.Themethods of conventional on-line programming of arc welding robot can't satisfy therequirements above.Besides,on-line programming of arc welding robot needs robotto stop work,which not only saps the efficiency but also increases the productioncosts.In view of the above,the methods of off-line programming of arc welding robothave become the main research contents in the field of welding in recent yearsIn this dissertation,the research on off-line programming of MOTOMAN HP6arc welding robot is taken by using UGNX4.0 as development platform and usingVC++as development tool.Meanwhile,the qualification of welding quality isperformed by using statistics methods.The main research substances are as follows:First,3D models of MOTOMAN HP6 arc welding robot and positioner arefounded at their actual sizes.The equipment modeling of arc welding robot includesthree key modules:parts modeling module,assembly modeling module and kinematicmodule.Second,various parts models are assembled and 3D motion simulation modelsare founded.The kinematic models of arc welding robot in a link frame are set upusing secondary development functions provided by UG/OPEN API.The establishingmethods,assembly ways and motion simulation of models are enunciated.Thekinematic and inverse kinematic of this kind of arc welding robot are calculated withfour D-H parameters.The weldment feature modeling that is based solely on the buttjoint model and tubal bead model is established.Third,the change curve of joint angle of MOTOMAN HP6 are welding robot injoint-space is obtained by a method integrating the joint-space method with the rightangle space method and by simulation of interpolate points in the process of motionin Matlab software.Fourth,the qualification of welding quality is performed by the calculation ofMahalanobis Distance and by applying the theory of Norman Distribution.The