Motion planning for a new-model obstacle-crossing mobile welding robot

The purpose of this paper is to discuss motion planning about crossing obstacles and welding trajectory for a new-model mobile obstacle-crossing welding robot system. The robot can cross the obstacle in this way that one of the three adhesion mobile parts is pulled off the ground in turn. An optimal obstacle-crossing approach needs to be studied to improve the welding efficiency.

According to the characteristics of this mobile welding robot, two methods for crossing obstacles are compared. A special method is used for obstacle-crossing and welding. The kinematic model is established. By the optimization method, the optimum parameters for crossing obstacles are calculated. The welding speed when the robot is crossing the obstacle is very important, so its value must be in a certain range. Finally, the tracks of the wheels when the robot is crossing the obstacle are analyzed in order to observe the obstacle-crossing process.

According to the analysis, the maximum speed of the vehicle in the obstacle-crossing is determined. When crossing the obstacle, the robot can do welding simultaneously. The welding speed cannot exceed a certain value. In the obstacle-crossing process, the tracks of the wheels can reflect the process. According to the obtained conclusion, the obstacle-crossing experiments are successfully completed, and the welding effect is good. The results can prove that the proposed method is feasible.

The speed of obstacle-crossing is not very large. It has some relationships with the lifting speed of the wheels, which is determined by the quality of drive motor. More efficient robot must be developed to meet the needs of industrial robot.

Based on the excellent obstacle-crossing and welding capabilities, the robot with the new mechanism has a widely applying prospect in the field of welding and inspecting large equipment.

The obstacle-crossing approach has certain innovation. The way that the robot can maintain continuous welding when crossing the obstacle is of a great significance.