摘要
本文采用“搭积木”的思想提取复杂工件焊缝的特征信息 ,针对提取工件的特征信息提出并建立了焊缝的特征坐标系 ;对典型焊缝 (马鞍型 )基于AutoCAD的二次开发建立数学模型 ,推导出任意马鞍型曲线焊缝上任意焊点的特征坐标系在基准坐标系上的投影矢量 ,进而获取机器人焊枪尖端的坐标系相对基准坐标系转换矩阵。
The idea of 'building block' is adopted to catch the character information of complex spaced weld.Characteristic coordinates of weld is brought up; mathematics model of taped weld is built based on the re-exploit of AutoCAD. It is deduced that projection vector of characteristic coordinates of weld and torch relative to reference coordinates. This study is very important to offline programming of arc robot in spaced weld.
出处
《机械制造与自动化》
2002年第2期23-26,共4页
Machine Building & Automation
基金
南京理工大学青年教师科研基金资助项目
关键词
弧焊机器人
数学建模
离线编程
CAD
arc robot
characteristic coordinates of weld
mathematics model
offline programming
