相贯线型焊缝焊接轨迹规划  

Welding Trace Planning of Intersecting Line Weld Seam

作　　者：张荣 韦建军[1] 刘晓刚[1,2] 闫红方 ZHANG Rong;WEI Jianjun;LIU Xiaogang;YAN Hongfang(School of Mechanical Engineering,Guangxi University of Science and Technology,Liuzhou 545000,China;School of Mechanical Engineering,Guilin University of Aerospace Technology,Guilin 541000,China)

机构地区：[1]广西科技大学机械工程学院,广西柳州545000 [2]桂林航天工业学院机械工程学院,广西桂林541000

出　　处：《热加工工艺》2020年第17期133-136,共4页Hot Working Technology

基　　金：广西自然科学基金资助项目(2014GXNSFAA118310)。

摘　　要：建立相贯线型焊缝上每一个焊点在船形焊约束下的焊接姿态,以及其与两管半径的关系,通过双机器人协调焊接完成某一相贯管件的焊接。得出机器人在作业过程中的轨迹规划驱动矩阵后,并通过MATLAB软件仿真得出机器人关节变化曲线,从而证明了该方法的可行性。The welding posture of each welding point on the intersecting line weld under the restraint of fillet weld in flat position and the relationship between the welding posture and the radius of two pipes were established.The welding of a intersecting pipe was completed by coordinated welding of two robots.After obtaining the trajectory planning driving matrix of the robot in the process of operation,the change curve of the robot joints was obtained through simulation of MATLAB software.In the end,the feasibility of this method was proved.

关 键 词：相贯线 姿态 船形焊 双机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG409[自动化与计算机技术—控制科学与工程]