弧焊机器人空间焊缝焊接参数与姿态规划研究

针对弧焊机器人空间焊缝焊接工艺参数和焊枪姿态规划问题，提出了焊缝特征坐标系的概念，定义了“立坡焊”和“横坡焊”的概念，采用焊缝特征坐标系来描述各种焊接接头复杂空间焊缝的焊接位置，引用齐次变换技术求解空间焊缝的转角和倾角，将复杂空间焊缝的规划问题分解为“立坡焊”和“横坡焊”2种焊接位置的组合，并运用于马鞍型焊缝机器人焊接。实验结果表明，该方法正确可行。

The Optimization of the Weld Parameter and Torch Pose of Arc Welding Robot

Aiming at the optimization problem of the weld parameter and torch pose of arc welding robot, the concept and theory of weld character reference frame, "up slope weld" and "across slope weld" ,is put forward.The frame is adopted to describe various weld positions of complicated space weld. The corner and obliquity of space weld is calculated by homogeneous transformations.The complicated space weld is decomposed to the combination of two simple welding positions: up slope weld and across slope weld,and is applied to robot welding of space weld.The experimental results show the method is correct and feasible.