水轮机修复机器人焊接曲面空间建模

Modeling of Welding Spatial Surface of Robot for Repairing Water Turbine

针对目前水轮机修复机器人在焊接过程中需要建立一套自动焊接系统的问题,依据B样条曲面构造原理,采用图像仿真技术,建立了机器人仿真系统.通过对插补算法的研究,系统解决了远程控制机器人焊接的问题.空间曲面建模可以使焊接机器人在有限示教的条件下自动建立焊接模型并精确完成焊接和磨削操作.

We have built a simulation system of Robot which is based on the theory of B - Model surface and technology of images simulation, and it can help us resolve the problem how to build an automatic welding system to control welding of turbine blade repairing robot. This system has resolved the issue how to control robot to weld at long range through study of arithmetic of interpolation. Model of spatial surface can make robot automatically build model of welding and finish the manipulation of welding and grinding in condition of being taught by people limitedly.