Motion planning method for complex three dimensional path welding

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

doi:10.16511/j.cnki.qhdxxb.2016.22.034

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Journal of Tsinghua University(Science and Technology) ›› 2016, Vol. 56 ›› Issue (10) : 1031-1036. DOI: 10.16511/j.cnki.qhdxxb.2016.22.034

Motion planning method for complex three dimensional path welding

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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.

Key words

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

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ZENG Jinle, DU Dong, CHANG Baohua, HONG Yuxiang, CHANG Shuhe, PAN Jiluan. Motion planning method for complex three dimensional path welding[J]. Journal of Tsinghua University(Science and Technology). 2016, 56(10): 1031-1036 https://doi.org/10.16511/j.cnki.qhdxxb.2016.22.034

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