[1]赵康康,梅再武*.基于轨迹优化的焊接机器人多领域耦合仿真 [J].武汉工程大学学报,2026,48(02):216-221.[doi:10.19843/j.cnki.CN42-1779/TQ.202505009]
　ZHAO Kangkang,MEI Zaiwu*. Multi-domain coupling simulation of welding robots based on trajectory optimization [J].Journal of Wuhan Institute of Technology,2026,48(02):216-221.[doi:10.19843/j.cnki.CN42-1779/TQ.202505009]

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基于轨迹优化的焊接机器人多领域耦合仿真
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《武汉工程大学学报》[ISSN:1674-2869/CN:42-1779/TQ]

卷:

48

期数:

2026年02期

页码:

216-221

栏目:

智能制造

出版日期:

2026-04-30

文章信息/Info

Title:

Multi-domain coupling simulation of welding robots based on trajectory optimization

文章编号:

1674 - 2869（2026）02 - 0216 - 06

作者:

赵康康; 梅再武^*

武汉工程大学机电工程学院，智能焊接装备与软件工程技术湖北省研究中心（武汉工程大学），湖北 武汉 430205

Author(s):

ZHAO Kangkang;  MEI Zaiwu^*

School of Mechanical and Electrical Engineering，Wuhan Institute of Technology，Hubei Research Center of Intelligent Welding Equipment and Software Engineering Technology （Wuhan Institute of Technology），Wuhan 430205，China

关键词:

多领域耦合建模; Modelica; 轨迹优化; 灰狼优化算法

Keywords:

multi-domain coupling modeling;  Modelica;  trajectory optimization;  grey wolf optimizer

分类号:

TP242.2

DOI:

10.19843/j.cnki.CN42-1779/TQ.202505009

文献标志码:

A

摘要:

针对焊接机器人单系统建模存在的结果与实际偏差显著、局部优化有限等不足，本文提出一种基于灰狼优化算法（GWO）的焊接机器人轨迹优化与多领域耦合建模方法。首先，基于Modelica语言构建多领域耦合模型，该模型整合了机械、电气及控制系统，并通过连接器和转换器实现各系统间的能量流与信息的双向交互。其次，将轨迹优化模块嵌入多领域耦合模型，构建高保真虚拟环境，以精准模拟焊接机器人的实际运行状态，从而为轨迹优化算法提供高精度测试平台。最后，采用GWO进行仿真实验。实验结果表明：直线轨迹和曲线轨迹的运行时间分别减少71.60%和26.25%，验证了该方法的有效性。相比传统焊接机器人的单系统建模，本文所提出的方法具有高仿真精度、强大的系统优化能力。

Abstract:

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.

备注/Memo

备注/Memo:

收稿日期：2025-05-14

基金项目：武汉东湖高新区“揭牌挂帅”项目（2024KJB325）；武汉工程大学研究生教育创新基金（CX2024425）

作者简介：赵康康，硕士研究生。Email：z19806114434@163.com

*通信作者：梅再武，博士，讲师。Email：meizw@wit.edu.cn

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