| 中厚板焊接机器人焊枪位姿规划 |
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| 引用本文： | 易际明,陈沼欣,谢传禄,刘建春,林彦锋.中厚板焊接机器人焊枪位姿规划[J].厦门理工学院学报,2014(1):1-5. |
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| 作者姓名： | 易际明 陈沼欣 谢传禄 刘建春 林彦锋 |
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| 作者单位： | [1]厦门理工学院机械与汽车工程学院,福建厦门361024 [2]厦门思尔特机器人系统有限公司,福建厦门361023 |
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| 基金项目： | 福建省产学研重大项目（2012H6025） |
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| 摘 要： | 针对中厚板多层多道焊接人工示教效率低,焊枪位姿无法精确控制而引起焊接质量不稳定等问题,提出一种新型变换焊枪位姿方法.该方法采用公式算法完成焊枪位姿示教,即用离线编程软件定义一条轨迹,基于此轨迹建立坐标系,在已知焊缝形状与大小的情况下,结合焊接工艺库,通过欧拉角变换与四元数计算变换焊枪位姿参数,从而自动生成其余焊道轨迹.仿真与实验证明:该方法适合简单与复杂曲线焊缝,提高了焊接稳定性与效率,可为离线编程研究提供理论基础.
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| 关 键 词： | 机器人 焊枪位姿 多层多道 欧拉角 四元数 |
Torch Pose Planning for Plate Welding Robot |
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| YI Ji-ming,CHEN Zhao-xin,XIE Chuan-lu,LIU Jian-chen,LIN Yan-feng.Torch Pose Planning for Plate Welding Robot[J].Journal of Xiamen University of Technology,2014(1):1-5. |
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| Authors: | YI Ji-ming CHEN Zhao-xin XIE Chuan-lu LIU Jian-chen LIN Yan-feng |
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| Institution: | 1. School of Mechanical ＆ Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China; 2. Xiamen Siert Robot System Co. Ltd., Xiamen 361023, China) |
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| Abstract: | A new method for converting torch posture was proposed to solve the problem of low efficiency and unsteadiness of welding quality caused by inaccurate pose in plate muhipass welding. By this method formula algorithm was used to show poses, and offline programming software to define a trajectory. Then with the known weld shape and size, welding techniques bank was linked and torch pose parameters calculated through Euler angle and quaternion transformation so that other tracks were automatically generated. Simulation and experiments show that the method works for simple and complex curve weld alike in raising the welding efficiency and steadiness which provids a theoretical basis for the offline programming research. |
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| Keywords: | robot muhipass torch pose Euer angles quaternion |
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