基于轨迹优化的焊接机器人多领域耦合仿真OA

To address limitations of single-system modeling in welding robots such as significant deviations from actual performance and limited local optimization,in this paper we proposed a trajectory optimization and multi-domain coupling modeling method for welding robots based on the grey wolf optimizer(GWO)algorithm.First,a multi-domain coupling model was built using the Modelica language,integrating mechanical,electrical and control systems.Bidirectional energy flow and information exchange among subsystems were achieved via connectors and converters.Second,a trajectory optimization module was embedded into the multi-domain coupling model to construct a high-fidelity virtual environment,which accurately simulated the real-world operation of the welding robot,thereby providing a high-precision test platform for the trajectory optimization algorithm.Finally,simulation experiments were carried out using the GWO algorithm.Results showed that the operation time of the straight trajectory and the curved trajectory are reduced by 71.60%and 26.25%respectively,verifying the effectiveness of the proposed approach.Compared with conventional single-system modeling of welding robots,the method proposed offers high simulation accuracy and enhanced system optimization capabilities.