遥控弧焊机器人系统

Research on remote are welding robot system

研制了一个六自由度主动操纵手、立体电视监视系统和计算机控制系统，与ＰＵＭＡ机器人组成主从式遥控弧焊机器人系统。分析了连续焊缝弧焊的运动特征，着重研究了主从式遥控弧焊的操纵控制方式和手眼协调性问题。试验结果表明，传统的主从遥控操纵方式难以达到满意的轨迹精度；手眼形式能显著地提高操纵效率，有利于提高轨迹精度和焊接速度；采用焊接速度计算机自动控制与主从遥控操纵相配合的方式可显著地改善操纵的平稳性，从而显著地提高了轨迹精度。

A remote arc welding robot system has been built,consisting of a six DOF mastermaniplator,a helmeted stereo TV monitor system, a computer control system and a PUMArobot.The operation characteristics of the arc welding master-slave system and the coordinationbetween eye and hand are studied.The experiments reveal that the eys -in-hand monitor modecan raise operation efficiency and the mode compounding the welding speed automatic controlwith slave-master opration can improve the operation steadiness and trajectory accuracy obvi-ously.