基于分段插补的焊接轨迹规划研究
Welding trajectory planning based on piecewise interpolation
皇甫小峰 1邹光明 1刘源泂 1刘乐1
作者信息
- 1. 武汉科技大学 冶金装备及其控制教育部重点实验室,湖北 武汉 430081;武汉科技大学 机械传动与制造工程湖北省重点实验室,湖北 武汉 430081
- 折叠
摘要
在焊接过程中,焊枪的工作角、行走角、速度需要随工件材料、形状等的变化而改变,因此需要在焊接轨迹规划中对上述参数进行规划,以提高焊接质量.对焊接中常用的直线、圆弧、曲线轨迹进行焊接轨迹规划研究;将焊枪的速度、工作角和行走角与机器人末端速度、姿态、轨迹进行联合规划,并提出了一种基于斜率插补的曲线轨迹规划算法,使相邻段的轨迹实现平滑过渡.最后,以分段组合的方式对催化剂板单元箱进行焊接轨迹规划.所得焊接轨迹平滑连续,焊枪无抖动和停顿,保证了良好的焊接效果,对改善焊接质量具有重要的实际意义.
Abstract
In the welding process,the working angle,walking angle and speed of welding torch needs to change with the weld position and shape of the workpiece materials,so needs to plan for the above parameters in the process of welding.In response to the above-mentioned problems,the welding trajectory planning study was conducted for straight,circular and curved trajectories commonly used in welding;the speed,working angle and walking angle of the welding torch during welding were used as parameters for joint planning of robot end speed,attitude and trajectory.In the analysis of curved welding trajectories,a trajectory planning algorithm based on slope interpolation was proposed to achieve smooth transitions for adjacent segments of trajectories.Finally,using the three welding trajectory planning algorithms,the welding trajectory planning simulation of the catalyst plate unit box was carried out in a segmented articulated combination.
关键词
焊接机器人/焊接轨迹规划/催化剂板单元箱Key words
welding robot/welding trajectory planning/catalyst plate unit box引用本文复制引用
基金项目
湖北省技术创新专项重大项目(2018AAA027)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据