空间焊缝的位姿参数与放置规划研究  

Research on pose parameters and placement planning of space weld

作　　者：陈美宏[1] 焦恩璋[1] 

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037

出　　处：《电焊机》2011年第4期24-28,共5页Electric Welding Machine

摘　　要：为了实现复杂空间焊缝的船形焊,根据焊缝特征坐标系与参考坐标系的空间位姿关系,将任意回转面上的空间焊缝放置规划问题都归结为两类焊缝的放置规划问题;应用离散化处理方法提取了待焊点的空间几何信息;并基于空间向量的代数运算,给出了求解焊缝放置规划参数和焊枪路径的简便方法。针对典型的马鞍型焊缝船形焊,开发了用于马鞍型焊缝放置规划的通用求解器,并在ADAMS平台上实现了马鞍型焊缝的船形焊过程仿真。仿真结果表明,通用求解器的规划结果使得焊接机器人工作站平稳地完成了马鞍型焊缝的船形焊,从而验证了求解方法的正确性和通用求解器的有效性。In order to realize fillet weling in flat position of the space weld,the placement planning of curved surface welds is divided into two types according to the pose relationship between wlding seam character coordinate frame and reference coordinate frame.The geometric information of welding points are extracted by path discretization,and simple methods of solving placement planning parameters and welding path are offered based on algebraic operations of space vector.For the typical fillet welding in flat position of saddle-shaped weld,a general solver for placement planning of saddle-shaped weld is developed,and the simulation of fillet weling in flat position is carried out on the platform of ADAMS.The simulation result shows that,with planning results of the general solver,arc-welding robot workstation smoothly accomplished the fillet weling in flat position of saddle-shaped weld,and the correctness of solving methods and effectiveness of the general solver are also validated.

关 键 词：空间焊缝 位姿参数 船形焊 放置规划 

分 类 号：TG409[金属学及工艺—焊接]