基于参数化模型的焊缝曲线离散与焊枪姿态生成方法研究

Research on Weld Curve Discrete and Welding Torch Attitude Generation Method Based on Parameterized Model

焊缝轨迹的识别与离散、焊枪姿态的自动生成方法是智能焊接专用软件开发的关键技术点。针对专用焊接软件需要按模型自主识别焊缝轨迹、轨迹曲线离散以及实时生成焊枪法向量姿态的任务需求,结合Open CASCADE开发平台,提出一种不依赖商业CAD/CAE软件的基于模型的焊缝轨迹识别与离散算法以及焊枪姿态自动生成方法。并通过焊接仿真实验、MATLAB轨迹离散精度分析以及机器人焊缝轨迹行走实验,验证了焊缝轨迹离散与焊枪姿态生成方法的精确性和有效性。

The key technical points in the development of dedicated software for intelligent welding include the identification and discrete method of weld trajectory and the automatic generation method of welding torch attitude.For the task of dedicated welding soft⁃ware that needs to independently identify the weld trajectory,plan the welding path,and generate the welding torch attitude in real time,combined with the Open CASCADE development platform,a method of welding seam trajectory discrete algorithm and automatic generation of welding torch attitude without relying on commercial CAD/CAE software was proposed.The rationality and effectiveness of the methods including the discrete weld trajectory and the generation of the welding torch posture have been verified through welding simulation experiments,MATLAB discrete accuracy analysis of weld trajectories,and robot weld trajectory walking experiments.