基于角度逼近的马鞍形曲线自动焊接插补算法  

A interpolation algorithm for saddle-shaped curve auto-welding based on angle approaching

作　　者：亓化振[1] 田新诚[1] 张雪伊[1] 彭勃[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061

出　　处：《焊接学报》2007年第3期93-96,共4页Transactions of The China Welding Institution

摘　　要：介绍了马鞍形曲线自动焊接系统的工作原理、插补算法及软件实现。系统通过x,y,z三轴联动,控制焊枪实现马鞍形曲线焊缝的自动焊接。在基于角度逼近的平面圆弧插补算法的基础上,分析了马鞍形曲线空间几何特点,根据x,y,z三坐标的空间几何关系设计了一个插补决策。算法利用焊枪对马鞍形曲线焊缝在xOz平面内投影轨迹的回转联动y轴运动来拟合马鞍形曲线,从而解决了马鞍形曲线焊缝的自动焊接问题。由该算法实现的程序结构简单,易于实现,而且运行效率高,插补出的曲线均匀且误差小。The paper introduces operational principle,interpolation algorithm and software implementation design of saddle-shaped auto-welding system.By x,y,z three-axis interconnected,the system controls welding torch completing auto-welding of saddle welding seam.Based on two dimensional circular interpolation of angle approaching,the geometrical characteristic of saddle-shoped curve was analyzed,and a interpolation algorithm by geometrical relation of x,y,z three coordinate was designed.Algorithm makes use of the whirliglg for the projected footprint in the xoz plane of saddle-shaped curve to fit saddle-shaped curve,which desolves the problem of auto-welding for saddle welding seam consequently.The algorithm is so samiple that it can be easily realized by programme with minor error and high efficiency.

关 键 词：马鞍形曲线 角度逼近法 圆弧插补 自动焊接 

分 类 号：TG409[金属学及工艺—焊接]