Path planning of multi-layer single-pass welding of medium and heavy plate based on oblique triangle swinging arc
Aiming at the complex welding problem of medium and thick plate members,swing arc path applied to the weld of medium and thick plate is studied,and a trajectory algorithm based on spatial straight line oblique triangle swing arc is proposed to realize the weld welding of medium and thick plate.Firstly,the spatial straight line oblique triangle swing arc trajectory algorithm is studied to calculate the position information of each interpolation point of the swing arc path.Secondly,based on the position information of interpolation points and weld characteristics,the welding torch position planning and weld pass velocity planning are carried out.Then,the interpolation points generated by the obtained welding path algorithms are input to MATLAB for simulation verification.Finally,the experiment platform is set up to carry out the swing arc generation experiment and welding experiment.The experimental results show that the algorithm is feasible and can be applied to actual welding engineering.
medium and thick plateoblique trianglemulti-layer single-passpath planning
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