弧焊机器人马鞍形工件焊枪姿态规划研究  

Study on Torch Pose Planning of Arc Welding Robot for Saddle-shape Workpiece

作　　者：胡中华[1] 陈焕明[1] 熊震宇[1] 江淑园[1] 

机构地区：[1]南昌航空工业学院材料学院,江西南昌330034

出　　处：《机械与电子》2007年第4期11-13,共3页Machinery & Electronics

基　　金：航空科学基金资助项目(02H56007)

摘　　要：采用焊缝特征坐标系来表示空间曲线焊缝,给出了马鞍形焊缝的参数表达式,推导出焊缝及焊枪坐标系的齐次变换矩阵通式,由此得到了插补点求解的算法,该算法对于马鞍形2条中心线的交点位置没有限制,通用性强.最后给出了插补点个数的计算方法,经实验验证可以满足焊接质量要求.Used characteristic coordinates of weld to describe space welding seam,gave parameter expression of saddle - seam and deducted a genression of matrix of homogeneous transfortherefore it concludes a general algorithm lying the coordinates of interpolation point, Las no limitation to the position of interseceral exp mation, for reso which h tion point of the centerline of saddle, so it has a strong practicability and considerable practical value. At last, algorithm of number of intersection point is attained. The experiment result has met the requirements of welding quality.

关 键 词：弧焊机器人 马鞍形 插补 离线编程 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]