Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is ...Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.展开更多
In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus dete...In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus determined.The dihedral angle,groove angle and actual cutting angle for any position of the intersecting line are derived as well.In order to identify groove vectors for two pipes,a new analytical method,i.e.coplanarity of vectors,is further proposed to complete the groove model.The established model is virtually verified by programming and simulation calculation in the MATLAB environment.The results show that groove vectors of intersecting structures simulated by MATLAB are consistent with the theoretical groove model,indicating that the theoretical groove model established in this paper is accurate,and further proves that the proposed coplanarity of vectors for solving groove vectors is correct and feasible.Finally,a graphical user interface(GUI)is developed by MATLAB software to independently realize functions such as model drawing,variable calculation and data output.The research outcome provides a theoretical foundation for the actual welding of circular intersecting structures,and lays an essential basis for weld bead layout and path planning.展开更多
文摘Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.
基金This work was supported by Natural Science Foundation of Fujian Province(Grant No.2020J01873)Science and Technology Major Project of Fujian Province(Grant No.2020HZ03018).
文摘In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus determined.The dihedral angle,groove angle and actual cutting angle for any position of the intersecting line are derived as well.In order to identify groove vectors for two pipes,a new analytical method,i.e.coplanarity of vectors,is further proposed to complete the groove model.The established model is virtually verified by programming and simulation calculation in the MATLAB environment.The results show that groove vectors of intersecting structures simulated by MATLAB are consistent with the theoretical groove model,indicating that the theoretical groove model established in this paper is accurate,and further proves that the proposed coplanarity of vectors for solving groove vectors is correct and feasible.Finally,a graphical user interface(GUI)is developed by MATLAB software to independently realize functions such as model drawing,variable calculation and data output.The research outcome provides a theoretical foundation for the actual welding of circular intersecting structures,and lays an essential basis for weld bead layout and path planning.
