| 大构件相贯线焊缝轨迹拟合方法 |
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| 引用本文： | 苗新刚,汪苏,李晓辉. 大构件相贯线焊缝轨迹拟合方法[J]. 焊接学报, 2011, 32(1): 89-92 |
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| 作者姓名： | 苗新刚 汪苏 李晓辉 |
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| 作者单位： | 1. 北京航空航天大学机械工程及自动化学院,北京,100191
2. 北京控制工程研究所,北京,100190 |
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| 摘 要： | 针对大构件相贯线焊接结构在制造和装配中存在一定的误差,而使用机器人焊接时对焊缝轨迹要求又比较高的问题,提出了相应的轨迹拟合方法.对相贯线焊缝轨迹的获取和拟合进行了详细的分析,采用了基于相贯线变形普遍规律的椭圆拟合法和基于曲线拟合的三坐标轴分立最小二乘法两种方法.选取关键部位进行示教,然后分别对这两种方法进行了相贯线的拟...
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| 关 键 词： | 相贯线 焊接机器人 椭圆拟合 最小二乘拟合 |
| 收稿时间： | 2009-09-29 |
Methods of track fitting on big frame intersection line seam |
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| MIAO Xingang,WANG Su and LI Xiaohui. Methods of track fitting on big frame intersection line seam[J]. Transactions of The China Welding Institution, 2011, 32(1): 89-92 |
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| Authors: | MIAO Xingang WANG Su LI Xiaohui |
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| Affiliation: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China,School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China and Beijing Institute of Control Engineering, Beijing 100190, China |
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| Abstract: | There are some errors when big frame intersection line welded structural assemblies are produced,so the trace of seam is both instructed and fitted as the robot is used,in which quality of welding is decided by the precision of fitting.Focused on saddle-back welding seam,ellipse fitting and three-coordinate axis separated least square algorithm fitting are both designed.Simulation based on some teaching points in key position is made,and the result shows that the three-coordinate axis separated least square algorithm fitting is more precise than the ellipse fitting.It is more fitted for big intersection line welding frame. |
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| Keywords: | intersection line welding robot ellipse fitting least square fitting |
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