Kinematics analysis and trajectory planning for a welding robot for girth welding of box-type steel structures

doi:10.16511/j.cnki.qhdxxb.2017.22.038

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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.

Keywords welding robot box-type steel structure D-H model kinematics analysis welding trajectory planning

ZTFLH:

TP242.3

Issue Date: 15 August 2017

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	ZHU Zhiming
	GUO Jichang
	MA Guorui
	LIU Bo

Cite this article:

ZHU Zhiming,GUO Jichang,MA Guorui, et al. Kinematics analysis and trajectory planning for a welding robot for girth welding of box-type steel structures[J]. Journal of Tsinghua University(Science and Technology), 2017, 57(8): 785-791.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2017.22.038 OR http://jst.tsinghuajournals.com/EN/Y2017/V57/I8/785

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