焊接位姿参数定义的讨论及典型工件的建模

Discussion on welding pose parameters and model of typical workpieces

讨论了弧焊机器人焊接位姿参数的定义。焊接位姿包括焊缝位置和焊枪姿态,可以用焊缝倾角、焊缝转角、焊枪工作角和焊枪行走角四个参数来表征。对这四个焊接位姿参数的内涵进一步完善和修改,使其更适合于弧焊机器人焊接的实际需要,更通俗易懂。针对典型的马鞍形焊缝进行数学建模,并利用MATLAB软件计算焊接位姿参数。

The definitions of welding pose parameters of arc welding robot were discussed. Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, torch work angle and traveling angle. The meanings of four parameters were amended, so that they are more compatible to the real nedas of arc welding robot, and easier to understand. The mathematical model of typical saddle - shape weld was established, and the welding pose parameters were calculated with MATLAB.