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

doi:10.16511/j.cnki.qhdxxb.2017.22.038

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Journal of Tsinghua University(Science and Technology) ›› 2017, Vol. 57 ›› Issue (8) : 785-791. DOI: 10.16511/j.cnki.qhdxxb.2017.22.038

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

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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.

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

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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[J]. Journal of Tsinghua University(Science and Technology). 2017, 57(8): 785-791 https://doi.org/10.16511/j.cnki.qhdxxb.2017.22.038

References

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