弧焊机器人系统协调焊接的路径放置规划  

Path Placement Planning in Coordination Welding for Arc Welding Robot System

作　　者：宋月娥[1] 孙华[1] 吴林[1] 田劲松[1] 

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,哈尔滨150001

出　　处：《焊接学报》2002年第6期79-81,共3页Transactions of The China Welding Institution

摘　　要：以RHJD4- 1九自由度弧焊机器人系统协调焊接情况为研究对象 ,提出了以变位机冗余自由度为变量、以保证焊接路径规划成功为约束、以变位机运动变化最小为目标的路径放置规划问题的规划模型 ,并以 12 0 0mm长直对接焊缝为例进行了仿真试验 。The path placement planning optimization model in coordination welding for arc welding robot system is presented based on RHJD4 1 arc welding robot work cell in this paper.The model is subjected to weld path planning,aimed to minimal movement of positioner and considered the positioner redundant degree of freedom as variable.And then one simulation experiment based on 1200 mm long butt weld seam is conducted.Results show that the optimization model can solve the best path placement planning problem.

关 键 词：弧焊机器人 协调 路径放置规划 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]