摘要
针对船舶建造过程中船舱底部与甲板内侧格子形焊缝空间狭小、焊接条件恶劣的情况,设计了一轮式移动焊接机器人,通过ADAMS软件对焊缝跟踪进行运动学逆解仿真,将仿真结果用于90°折线焊缝的跟踪焊接实验,从而减少了实验次数,降低了实验成本.其仿真结果可以为机器人的准确设计与焊接跟踪实验提供依据.
Considering the poor welding condition,such as the space of lattice-shaped welding seam between the bottom of the cabin and inside of the deck is too small,a wheeled mobile welding robot was designed,then its inverse kinematics and the tracking simulation of welding seam was done by ADAMS software.The simulation results can provide a basis for the accurate design of the robot and the welding tracking experiments.Finally,under the guidance of the simulation results to experiment,the experiment of plane right...
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2008年第S1期76-79,共4页
Journal of Shanghai Jiaotong University
基金
江西省科技厅工业项目资助(S00043)
关键词
移动焊接机器人
焊缝跟踪
虚拟样机
mobile welding robot
welding seam tracking
virtual prototyping
