基于人机工程的主从机器人遥控焊接焊缝跟踪误差分析

摘要

The seam tracking precision and the welding speed of master-slave robot remote welding should meet the requirement during welding.However,when manual operator control the master-slave robot remote welding system,the reason why seam tracking precision does not meet the requirement of the welding is unknown.In this paper,a master-slave robot remote welding system was built consisting of a master manipulator with six degrees of freedom（DOF）,an industrial computer control system,a slave MOTOMAN HP3J robot and laser sensor system.The factors that affected the tracking precision of straight welding seam were analysed based on the ergonomics.The experiment results show that the longer the reaction time of operator,is the lower tracking precision,and the welding speed should be controlled by the robot to improve the welding process stability and welding quality.%主从机器人遥控焊接要求具有较高的运动轨迹跟踪精度和足够的焊接速度,但是当操作者手动操作主机器人控制从机器人末端焊枪跟踪焊缝时,焊缝跟踪精度不能满足焊接要求的原因至今未知.文中开发了一套由主端控制器、从机器人、工控机和激光传感器组成的主从机器人遥控焊接系统.从人机工程的角度分析了操作者手动操作主机器人控制从机器人末端焊枪跟踪直线焊缝时,影响焊缝跟踪精度的因素.结果表明,操作者的反应时间越长,焊缝跟踪精度越低,并且为了保证焊接过程的稳定性和焊接质量,焊接速度应该由机器人控制.