基于CAD/CAM的船体分段机器人焊接路径规划方法

Welding path planning method for ship hull segmented robot based on CAD/CAM

传统船体分段机器人焊接路径规划方法极易产生碰撞,失误率较高,为此设计基于CAD/CAM的船体分段机器人焊接路径规划方法。运用CAD进行图形坐标提取,通过工件标定法将CAD中的坐标信息转换为实际坐标位置,完成坐标信息转化处理,使用处理后的坐标信息进行环境建模,运用CAM技术完成路径搜索和碰撞检验,选取出最佳路径,实现对基于CAD/CAM的船体分段机器人焊接路径规划方法的设计。实验数据表明,设计的基于CAD/CAM的船体分段机器人焊接路径规划方法与传统路径规划方法相比能有效减少碰撞发生,降低80%失误率,并具备极高的有效性。

The welding path planning method of traditional hull segmented robot is very easy to collide, and the error rate is high. For this reason, the welding path planning method based on CAD/CAM is designed. Using CAD to extract the graphic coordinates, transform the coordinate information in CAD into the actual coordinate position by the workpiece calibration method, complete the coordinate information conversion processing, use the coordinate information after the processing to model the environment, use the CAM technology to complete the path search and collision detection, select the best path, and realize the ship based on the CAD/CAM. Design of welding path planning for segmented robot. The experimental data show that the design of CAD/CAM based ship segmentation robot welding path planning method can effectively reduce the collision, reduce the error rate of 80% and have high effectiveness compared with the traditional path planning method.