Motion planning method for complex three dimensional path welding
ZENG Jinle, DU Dong, CHANG Baohua, HONG Yuxiang, CHANG Shuhe, PAN Jiluan
Key Laboratory for Advanced Materials Processing Technology of Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Abstract：Good forming and metallurgical quality in complex three dimensional welds requires accurate motion planning. Existing planning methods do not provide uniform welding speeds and stable positioning and pose between the torch and the workpiece. This paper presents a motion planning method for complex three dimensional path welding that first uses a B-spline curve to connect selected points along the seam. Then, a kinematic model is used to calculate the displacements and velocities of each joint at each time using an inverse kinematic method. Simulations show that this method keeps the welding region horizontal during the entire welding process and keeps the welding speed, inclination angle and distance between the welding region and the end of the welding torch equal to the predetermined values. This welding path planning method can be applied to complex three dimensional path planning for arc welding, laser welding and friction stir welding.
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2016, Vol. 56 
