管道插接焊缝位置及焊枪位姿建模
Modeling on weld position and welding torch pose in welding of intersected pipes
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摘要: 管道插接相贯线焊缝是典型的、复杂的空间焊缝。针对弧焊机器人工作的特殊要求,在不失一般性的基础上,建立了焊缝位置及焊枪位姿的数学模型,以坐标系的形式定量描述了焊缝及焊枪的位置和方向,确定了能够准确描述焊枪姿态的参数:工作角、行走角和自转角,并给出了计算方法。通过对相贯线焊缝特征的分析,发现相贯线上任意点的切线始终与过该点的两个圆柱切平面的交线重合,在此基础上提出了一种简单的建立焊缝特征矩阵的计算方法。该模型对管道插接具有通用性,对焊接工艺的建模与仿真以及机器人焊接的建模与离线编程具有重要意义。Abstract: The welding seam of intersected pipes is a typical and complicated space welding seam.The models of weld position and welding torch pose were founded for arc welding robot, and their position and pose were described precisely and quantificationally by coordinates.Then, the welding torch orientations were described by work angle, traveling angle and rotation angle, and the calculation methods were presented.A new simple method of calculation is put forward to establish the coordinate system of welding seam according to the characteristic analy sis that any tangent through the point on intersection line coincides with the intersection line of two cylinder sections at this point.The model is general to the intersected pipes and it has significance for modeling on weld position and welding torch pose, simulating and off line programming for robot welding.
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期刊类型引用(7)
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