机器人弧焊离线编程系统协调运动的实现

Coordinated motion simulation in a robot arc off-line programming system

在焊接机器人柔性加工单元应用中,为保证焊枪与焊缝在弧焊过程中始终处于接头成型良好的焊接位置,需要机器人和变位机协调运动.ACADOLP弧焊离线编程系统实现了协调运动,阐述了该系统中的协调运动的算法原理.将协调运动分解为协调直线运动和协调圆弧运动,并给出了一种实现系统协调运动功能的方法,即变位机作为主手,机器人为从手,机器人跟踪变位机进行运动,实验验证了这种方法的可行性.

The coordinated motion of the robotic arc welding system is a special motion method in flexible manufacturing unit or the flexible product line, which is often used to guarantee the welding point in the well fusion shape during arc welding. In the ACADOLP arc welding off-line programming system, this motion style is realized. This paper shows the coordinated motion arithmetic and divides it into line coordinated motion and arc coordinated motion. In coordinated motion situation the positioner is used as main device and robot as aux device, and robot moves in accordance with the positioner. Experimental results reveal the applicability of our system.