Kinematics analysis and trajectory planning for a welding robot for girth welding of box-type steel structures
ZHU Zhiming, GUO Jichang, MA Guorui, LIU Bo
Key Laboratory for Advanced Materials Processing Technology of Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Abstract:A straight-arc combined orbital welding robot system was designed for girth welding of box-type steel structures at construction sites. The kinematics analyses used the standard D-H model and the Craig modified D-H model for this welding robot with evluations based on the modeling accuracy and solution process for the welding torch trajectory planning for girth welding of box-type steel structures. The trajectory planning method could adjust for arbitrary spatial position and posture relative to the welding torch with the minimum degrees of freedom. The planning mehtod gave an efficient trajectory for right-angle welding of the box-type steel structure. Simulations show that the welding robot system can provide the girth welding of box-type steel structures and can ajust to various spatial positions and postures.
朱志明, 郭吉昌, 马国锐, 刘博. 箱型钢结构环缝焊接的机器人运动学分析与轨迹规划[J]. 清华大学学报(自然科学版), 2017, 57(8): 785-791.
ZHU Zhiming, GUO Jichang, MA Guorui, LIU Bo. Kinematics analysis and trajectory planning for a welding robot for girth welding of box-type steel structures. Journal of Tsinghua University(Science and Technology), 2017, 57(8): 785-791.
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