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Abstract: | In this paper, a planning algorithm for
multi-path/multi-layer circular locus is poposed. The algorithm is applied to weld the
nipples on the header of boiler. Multi-path/multi-layer circular locus is planned
according to three teaching points, which is lapped head-on-end to satisfy the requirement
of technology. For the nipples wherever they are arranged radially or axially, even if
there are errors caused by positioning and thermal deformations, providing that nipple's
position and orientation relative to the teaching one can be measured, the
multi-path/multi-layer circular locus can be planned without teaching any more. The
algorithm has been applied in welding robot for manufacturing power station' boiler. |
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