空间曲线焊缝的FSW焊接位姿运动学建模与仿真

Modeling and Simulation of FSW Welding Pose Kinematics for Spatial Curve Weld

焊接位姿的控制对提高空间复杂曲线焊缝的焊接精度具有重要意义。本文以A/B摆角五轴联动搅拌摩擦焊设备为基础,对空间复杂曲线焊缝的焊接位姿进行建模与仿真,建立了空间复杂曲线焊缝焊接的位姿描述模型;基于描述模型获得了五轴联动焊接运动学逆解;运用UG对搅拌头TCP点运动进行仿真,分析运动参量响应,并将仿真值与计算的实际焊接速度值进行对比。结果表明:焊接位姿运动学模型建立正确,为空间复杂曲线焊缝焊接轨迹规划与编程仿真提供了前提。

The control of welding pose is of great significance to improve the welding precision of space-complex-curve weld.Based on the A/B swing angle five-axis linkage friction stir welding equipment,the welding pose for space-complex-curve weld is modelled and simulated in this paper.The pose description model of space-complex-curve weld during welding is established,and then the inverse solution of the five-axis linkage welding kinematics is obtained based on this description model.The TCP point motion of the rotating tool is simulated by the UG software,and then the motion parameter response is analyzed.The corresponding simulated value is compared with the calculated actual welding speed value.The results show that the welding pose kinematics model is established correctly,which provides a theoretical basis for the welding trajectory planning and programming simulation of space-complex-curve weld.