摘要
This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-groove welds,the computational process of welding gun orientation is first simplified.Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula.Finally,Solidworks and SimMechanics are employed to simulate the kinematics of the welding robot,which proves the feasibility of the kinematic algorithm.
This paper introduces the complexity and particularity of tube-sphere intersection weld （J- groove weld） and establishes the mathematical model of tube-sphere intersection trajectory. Based on the characteristics of J-groove welds, the computational process of welding gun orientation is first simplified. Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula. Finally, Solidworks and Sim- Mechanics are employed to simulate the kinematics of the welding robot, which proves the feasibility of the kinematic algorithm.
基金
Supported by National Natural Science Foundation of China (No. 50975195)
Tianjin Research Program of Application Foundation and Advanced Technology (No. 10JCYBJC06500)
