弧焊机器人离线编程与仿真技术的研究现状及发展趋势  

Current status and development trend of off-line programming and simulation technology for arc welding

作　　者：刘圣祥[1] 高洪明[1] 张广军[1] 吴林[1] 何广忠[2] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,150001 [2]长春轨道客车股份有限公司,130062

出　　处：《焊接》2007年第7期21-27,共7页Welding & Joining

摘　　要：根据中国弧焊机器人的应用情况和发展需要,传统的工业机器人在线示教已经不能满足生产需求,弧焊离线编程与仿真技术越来越受到生产厂家的重视。文中在分析弧焊机器人离线编程与仿真技术的特点基础上,详细阐述了焊接机器人离线编程与仿真技术目前在国内外相关领域的研究现状。特征建模、对工件和机器人工作单元的标定、自动编程技术等是弧焊机器人离线编程与仿真的核心技术,稳定高效的标定算法和传感器集成是机器人弧焊离线编程系统实用化的关键技术。According to the application state and development need of arc welding robots in China, traditional programming method for industrial robot teaching is unable to meet requirements of production. Therefore, off-line programming and simulation for arc welding robots are being paid more and more importance to by manufacturers. Based on analysis of main characteristics of off-line programming and simulation, the development status on the technology in domestic and abroad. Feature modeling, workpiece and robot work unit calibration and auto-programming technique are core techniques of off-line programming and simulation. Stable and high efficient calibration and sensor integration are the key techniques of making good use of off-line programming system for arc welding robots in industrial application.

关 键 词：机器人 弧焊 离线编程与仿真 

分 类 号：TG409[金属学及工艺—焊接]