弧焊机器人系统的相交管路径规划
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摘要
基于ABB1410弧焊机器人系统,研究了实现自动焊接相交圆管接缝的路径规划技术。在工件坐标系下建立了相应的数学模型,针对机器人焊接相交管的空间曲线焊缝的特点,结合弗莱纳-雪列三元空间矢量原理,求出了该空间焊缝路径上各离散点的位姿矩阵,并对焊枪的焊接姿态进行了规划。同时,给出了一种在实际焊接时标定斜交管坐标系和机器人基座标系之间关系的方法。利用Robot Studio软件对焊接运动轨迹进行了动态仿真和离线编程,实际焊接实验证明了所研究的路径规划算法的可行性,提高了焊接机器人各关节运动的平稳性,对实际生产有一定意义。
In the light of ABB arc welding robot system,the path planning technique for automatic welding the joint of the intersecting pipes is studied. The corresponding mathematical model is set up in the workpiece coordinate system,on the basis of the characteristics of robot welding space curve welding seam of intersecting pipes and FrenetSnow column three dimensional space vector theory,the position and attitude matrix of each discrete point on the weld path of the space is obtained,the welding torch attitude is planned,At the same time,a method of calibration of the relationship between the intersecting pipes workpiece coordinate system and the base coordinate system of the robot in the actual welding is presented. Then the dynamic simulation and off-line programming of welding trajectory are carried out by using the software Robotstudio,experimental results verify the feasibility of the path planning algorithm,can improve the smoothness of the joints movement of welding robot,has certain significance to the actual production.
In the light of ABB arc welding robot system,the path planning technique for automatic welding the joint of the intersecting pipes is studied. The corresponding mathematical model is set up in the workpiece coordinate system,on the basis of the characteristics of robot welding space curve welding seam of intersecting pipes and FrenetSnow column three dimensional space vector theory,the position and attitude matrix of each discrete point on the weld path of the space is obtained,the welding torch attitude is planned,At the same time,a method of calibration of the relationship between the intersecting pipes workpiece coordinate system and the base coordinate system of the robot in the actual welding is presented. Then the dynamic simulation and off-line programming of welding trajectory are carried out by using the software Robotstudio,experimental results verify the feasibility of the path planning algorithm,can improve the smoothness of the joints movement of welding robot,has certain significance to the actual production.
引文
[1]PIETRASZKIEWICZ W,KONOPINSKA V.Junctions in shell structures:A review[J],Thin-Walled Structures,2015,95:310-334.
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[5]曾翠华,张纯忠,杨军.基于弗莱纳-雪列空间矢量的焊接离线编程路径规划[J],焊接技术,2011,40(7):44-48.
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[7]MADSEN O,SORENSEN C B,LARSEN R,et al.A system for complex robotic welding[J].Ind Robot,2002,29(2):41-48.
[8]SHI L,TIAN X C,ZHANG C H.Automatic programming for industrialrobot to weld intersecting Pipes[J],Int J Adv Manuf Technol,2015.
[9]石磊,田新诚.主管旋转式相贯曲线自动焊接模型与仿真[J],焊接学报,2015,36(6):5-8.
[10]翟敬梅,应灿,张铁,等.双机器人协同焊接的轨迹优化[J],焊接学报,2015,36(1):91-95.
[11]张文增,陈强,孙振国,等.弧焊机器人工件坐标系快速标定方法[J],焊接学报,2005,26(7):1-4.
[12]叶晖,管小清.工业机器人实操与应用技巧[M].北京:机械工业出版社,2010.
[13]叶晖.工业机器人工程应用虚拟仿真教程[M]北京:机械工业出版社,2013.
[2]汪苏,蔡玲玲,苗新刚,等.骑座式相贯线焊缝焊接机器人连续轨迹规划[J],焊接技术,2010,39(7):44-47.
[3]FU X G,YAN G Z,YAN B,et al.A new robot system for autoinspection of intersected welds of pipes used in nuclear power stations[J],Int J Adv Manuf Technol,2006,28:596–601.
[4]蔡军,丁宗兴,张毅。6R工业机器人在球管相贯焊接中的轨迹规划[J],机械设计与研究,2015,31(4):32-35.
[5]曾翠华,张纯忠,杨军.基于弗莱纳-雪列空间矢量的焊接离线编程路径规划[J],焊接技术,2011,40(7):44-48.
[6]SHI L,TIAN X C.Automation of main pipe-rotating welding scheme for intersecting pipes[J],Int J Adv Manuf Technol,2015,77:955-964.
[7]MADSEN O,SORENSEN C B,LARSEN R,et al.A system for complex robotic welding[J].Ind Robot,2002,29(2):41-48.
[8]SHI L,TIAN X C,ZHANG C H.Automatic programming for industrialrobot to weld intersecting Pipes[J],Int J Adv Manuf Technol,2015.
[9]石磊,田新诚.主管旋转式相贯曲线自动焊接模型与仿真[J],焊接学报,2015,36(6):5-8.
[10]翟敬梅,应灿,张铁,等.双机器人协同焊接的轨迹优化[J],焊接学报,2015,36(1):91-95.
[11]张文增,陈强,孙振国,等.弧焊机器人工件坐标系快速标定方法[J],焊接学报,2005,26(7):1-4.
[12]叶晖,管小清.工业机器人实操与应用技巧[M].北京:机械工业出版社,2010.
[13]叶晖.工业机器人工程应用虚拟仿真教程[M]北京:机械工业出版社,2013.