机器人远程激光焊接离线编程系统与路径规划  

The System of Robot Remote Laser Off-line Welding Programming and Path Planning

作　　者：王巧玲[1] 程欣 

机构地区：[1]河北科技大学信息科学与工程学院,石家庄050000

出　　处：《组合机床与自动化加工技术》2018年第2期90-93,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：河北省科技厅项目(16K50319D)

摘　　要：由于远程激光焊接过程中焊接顺序和机器人路径规划对于焊接周期影响较大,因此文章提出了离线远程激光焊接编程系统。该系统以扩增实境为基础,通过3D输入设备可以实现机器人轴的快速定位,提出了以解决旅行商问题的轨迹优化算法,对机器人路径以及焊接顺序进行了优化。离线远程激光焊接编程系统不仅仅能够实现快速的空间人机交互,还具有很高的适用性,操作简单。经仿真结果可以得出,离线编程相比传统的在线编程能够节省30%的焊接时间,极大地提高了远程激光焊接效率。Because of the influence of welding sequence and path planning on the welding cycle in the process of remote laser welding,an off-line remote laser welding programming system is proposed in this paper. This system is based on augmented reality,fast positioning of the robot axes can be achieved by the 3 D input device. The trajectory optimization algorithm is proposed to solve the traveling salesman problem. The off-line remote laser welding programming system is not only able to realize interaction with space quickly,but also it has high applicability. The simulation results showthat the off-line programming can save 30% of the welding time and greatly improve the efficiency of remote laser welding compared with the traditional online programming.

关 键 词：远程激光焊接 路径 扩增实境 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]