Motion planning method for complex three dimensional path welding

doi:10.16511/j.cnki.qhdxxb.2016.22.034

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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.

Keywords electromechanical system three dimensional path welding kinematic modeling path planning offline programming

ZTFLH:

TP271+.4

Issue Date: 15 October 2016

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	ZENG Jinle
	DU Dong
	CHANG Baohua
	HONG Yuxiang
	CHANG Shuhe
	PAN Jiluan

Cite this article:

ZENG Jinle,DU Dong,CHANG Baohua, et al. Motion planning method for complex three dimensional path welding[J]. Journal of Tsinghua University(Science and Technology), 2016, 56(10): 1031-1036.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2016.22.034 OR http://jst.tsinghuajournals.com/EN/Y2016/V56/I10/1031

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