弧焊机器人系统的相交管路径规划  

Research of Path Planning for Intersecting Pipes Based on arc Welding Robot System

作　　者：沈健 洪磊 嵇保健 凌超 

机构地区：[1]南京工业大学电气工程与控制科学学院,南京211816 [2]南京工程学院汽车与轨道交通学院,南京211167

出　　处：《机械设计与研究》2017年第6期40-43,共4页Machine Design And Research

基　　金：江苏省产学研联合创新资金-前瞻性联合研究项目(BY2014005-09)

摘　　要：基于ABB1410弧焊机器人系统,研究了实现自动焊接相交圆管接缝的路径规划技术。在工件坐标系下建立了相应的数学模型,针对机器人焊接相交管的空间曲线焊缝的特点,结合弗莱纳-雪列三元空间矢量原理,求出了该空间焊缝路径上各离散点的位姿矩阵,并对焊枪的焊接姿态进行了规划。同时,给出了一种在实际焊接时标定斜交管坐标系和机器人基座标系之间关系的方法。利用Robot Studio软件对焊接运动轨迹进行了动态仿真和离线编程,实际焊接实验证明了所研究的路径规划算法的可行性,提高了焊接机器人各关节运动的平稳性,对实际生产有一定意义。In the light of ABB arc welding robot system, the path planning technique for automatic welding the joint of the intersecting pipes is studied. The corresponding mathematical model is set up in the workpieee coordinate system, on the basis of the characteristics of robot welding space curve welding seam of intersecting pipes and Frenet- Snow column three dimensional space vector theory, the position and attitude matrix of each discrete point on the weld path of the space is obtained, the welding torch attitude is planned, At the same time, a method of calibration of the relationship between the intersecting pipes workpiece coordinate system and the base coordinate system of the robot in the actual welding is presented. Then the dynamic simulation and off-line programming of welding trajectory are carried out by using the software Robotstudio, experimental results verify the feasibility of the path planning algorithm, can improve the smoothness of the joints movement of welding robot, has certain significance to the actual production.

关 键 词：弧焊机器人系统 弗莱纳一雪列空间矢量 离线编程 焊枪姿态规划 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]