Off-line programming system of arc-welding robot based on boiler

Off-line programming system of welding robot used in boiler is studied.Characteristics of boiler and its coordinates of complex spaced weld are eatched in the system.The paths and positions of torchare layed out.The environments such as boiler are built,aecording to the robot language format.The robot program is built by the system automati-cally.Simulation of boiler welded by sk6 robot are performed.It proved the system is available.