Research on trajectory planning of sub-assembly and unit-assembly robot in shipbuilding industry

摘要

In shipbuilding, welds in sub-assemblies and unit-assemblies are long and various type. The robot arm needs the gantry movement to cooperate with the welding operation. However, there are joint redundancy and double-arm coordination problems, which cause difficulties in the welding trajectory planning. This paper proposes a strategy of decoupling the dual-arm system into a single-arm system for separate planning and prioritizing joint motion, and conducts welding trajectory planning research based on Matlab’s Simscape Multibody. Firstly, the 3D model of the welding workstation is established, its structure, the operation mode of the joint link and the degree of freedom are analyzed. The 17-DOF welding workstation is decoupled into a single-arm 9-DOF system, a kinematic model is established, kinematic analysis is carried out. The Matlab robot toolbox is used for simulation verification. Then the discretization of weld types and poses in sub-assemblies and unit-assemblies workpieces is analyzed. Finally, the welding workstation and workpiece model are imported into Simscape Multibody of Matlab to simulate the trajectory planning of different types of welds. The simulation results prove the effectiveness of the strategy and have certain reference significance for on-site welding in shipbuilding.