首页|Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme
Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme
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The automatic cutting of intersecting pipes is a challenging task in manufacturing.For improved automa-tion and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single Y-groove.Firstly,it summarizes the inter-section forms and introduces a dual-pipe intersection model.Based on this model,the moving three-plane structure(a description unit of the geometric characteristics of the inter-secting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is defined.Secondly,a novel mathematical model for plasma radius and taper com-pensation is established.Then,the compensation model and groove model are integrated by establishing movable frames.Thirdly,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is proposed.Through the established models and moving frames,the planned path description of cutting robot is provided in this novel scheme.The accuracy of the proposed method is verified by simulations and robotic cut-ting experiments.
Automatic groove cutting of intersecting pipesModel-driven robot path planningPlasma beam radius and taper compensation
Yan Liu、Qiu Tang、Xin-Cheng Tian
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School of Control Science and Engineering,Shandong University,Jinan 250061,People's Republic of China
Engineering Research Center of Intelligent Unmanned System,Ministry of Education,Jinan 250061,People's Republic of China
School of Mechanical and Electronic Engineering,Shandong Jianzhu University,Jinan 250101,People's Republic of China
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NSTL
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