相贯线型焊缝焊接轨迹规划

Welding Trace Planning of Intersecting Line Weld Seam

建立相贯线型焊缝上每一个焊点在船形焊约束下的焊接姿态,以及其与两管半径的关系,通过双机器人协调焊接完成某一相贯管件的焊接。得出机器人在作业过程中的轨迹规划驱动矩阵后,并通过MATLAB软件仿真得出机器人关节变化曲线,从而证明了该方法的可行性。

The welding posture of each welding point on the intersecting line weld under the restraint of fillet weld in flat position and the relationship between the welding posture and the radius of two pipes were established.The welding of a intersecting pipe was completed by coordinated welding of two robots.After obtaining the trajectory planning driving matrix of the robot in the process of operation,the change curve of the robot joints was obtained through simulation of MATLAB software.In the end,the feasibility of this method was proved.