摘要
针对将弧焊机器人应用于海洋平台导管架焊接作业现场的部分问题进行了仿真分析.采用Solid Works API环境下编制的焊缝特征坐标系规划软件,对平台焊接中经常出现的T、K相贯线的类马鞍型焊缝曲线进行焊枪路径提取和姿态规划,调用逆运动学运算模块计算各轴转角.最后,在Solid Works环境下进行焊接过程仿真.
An offshore jacket platforms arc robot was introduced.The software was developed based on the programming platform SolidWorks API.The main function of this software is planning the posture of characteristic coordinate frame of weld.Combined with the inverse kinematic resolution of robot and automatic posture planning,all joint rotating angles can be obtained.The results could be sent in CosMosmotion a plug-in package of SolidWorks and be used in the simulations of robot welding.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2008年第S1期7-9,共3页
Journal of Shanghai Jiaotong University
关键词
海洋平台导管架
弧焊机器人
离线编程软件
姿态规划
offshore jacket platforms
arc robot
off-line programming software
posture planning
