焊接应用中机器人构型与基座定位的比较
Comparison of robot morphologies and base positioning for welding applications
AI总结：
本研究针对焊接工业场景，对比PUMA型机械臂与UR型机器人的性能，分析不同基座位置的适配性，兼顾奇异点与姿态相关的碰撞问题，为焊接机器人选型和基座定位提供参考以优化焊接效果。
摘要：
本文对两种不同的机器人构型开展了全面研究：PUMA型机械臂（可编程通用装配机，Programmable Universal Machine for Assembly）与UR型机器人（Universal Robots）。本次对比分析的主要目标是评估二者在焊接这一专业领域内的性能，研究聚焦于预设的工业应用场景。这些场景涵盖了一系列待焊接的几何构件，以及符合手工焊工实际工作场景的指定焊接路径、空间约束和焊接方法。本研究中的案例研究是Weez-U焊接实践的示例，为采用不同机器人构型的实际应用价值提供了参考。此外，本研究区分了机器人的多种基座位置，从而帮助焊工根据自身特定的焊接目标选择最优的基座放置方案。通过提供这些洞见，本研究为这类特定轨迹范围筛选最合适的架构提供了便利，进而优化焊接效率与效果。与传统方法不同，本研究不止考虑奇异点，还深入分析了机器人与环境之间取决于机器人姿态的碰撞问题。这种整体性方法让人们对部署机器人焊接系统时固有的挑战与考量因素有了更细致的理解，为机器人焊接技术领域的从业者和研究人员都提供了有价值的参考。
英文摘要：
This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis is to assess their respective performances within the specialized domain of welding, focusing on predefined industrial application scenarios. These scenarios encompass a range of geometrical components earmarked for welding, along with specified welding paths, spatial constraints, and welding methodologies reflective of real-world scenarios encountered by manual welders. The case studies presented in this research serve as illustrative examples of Weez-U Welding practices, providing insights into the practical implications of employing different robot morphologies. Moreover, this study distinguishes between various base positions for the robot, thereby aiding welders in selecting the optimal base placement aligned with their specific welding objectives. By offering such insights, this research facilitates the selection of the most suitable architecture for this particular range of trajectories, thus optimizing welding efficiency and effectiveness. A departure from conventional methodologies, this study goes beyond merely considering singularities and also delves into the analysis of collisions between the robot and its environment, contingent upon the robot's posture. This holistic approach offers a more nuanced understanding of the challenges and considerations inherent in deploying robotic welding systems, providing valuable insights for practitioners and researchers alike in the field of robotic welding technology.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
