摘要
为解决目前机器人自动化焊接尚不能覆盖复杂结构件弧缝的问题,基于运动学建模、机器人轨迹规划等方法,开展中小组立弧线焊缝机器人仿真与试验、软件总体设计、人机交互设计、工作站设计。研究表明:中小组立弧线焊缝机器人可有效覆盖复杂结构件的弧缝,焊接效率相较人工焊提升50%。研究成果可为机器人自动化焊接设计提供一定参考。
In order to solve the problem that robotic automatic welding can not cover the arc seams of complex structural parts,based on methods such as kinematics modeling and robot trajectory planning,simulation and testing of sub-assembly and unit-assembly group arc welding robots,overall software design,human-computer interaction design,and workstation design have been carried out.Research shows that sub-assembly and unit-assembly assembly arc welding robots can effectively cover the arc seams of complex structural components,and the welding efficiency is increased by 50%compared to manual welding.The research results can provide some references for robot automatic welding design.
作者
邵奇
徐鹏
张强
吴洪瑞
刘新虎
许树风
SHAO Qi;XU Peng;ZHANG Qiang;WU Hongrui;LIU Xinhu;XU Shufeng(College of automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Jiangsu Institute of Automation,Lianyungang 222006,Jiangsu,China;Jiangsu JARI Technology Group Co.,Ltd.,Lianyungang 222006,Jiangsu,China;School of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《船舶标准化工程师》
2023年第3期27-31,共5页
Ship Standardization Engineer
关键词
弧线焊缝
运动学建模
轨迹规划
一体化运动
arc weld
kinematical modeling
trajectory planning
integration movement
