A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization

摘要

Industrial robots are widely used in welding operations because of their high production efficiency. The structure of the robot and the complex stress conditions during welding operations lead to the vibration of the end of robot, which leads to welding defects. However, current vibration suppression techniques for welding robots usually only consider the robotic performance while overlooking their impact on the welding metal forming process. Therefore, based on the influence of robot vibration on welding pool stability during the welding process, a new welding robot vibration suppression method is proposed in this paper, along with the establishment of a welding pool stability assessment model. The proposed vibration suppression algorithm is based on the optimization of the welding trajectory. To enhance the performance of the method, the Particle Swarm Optimization (PSO) algorithm is applied to optimize the joint angular velocity and angular acceleration. Finally, robot welding experiments are designed and conducted. By comparing vibration measurement data and welding quality before and after the vibration suppression, the effectiveness and stability of the proposed method are validated.