弧焊机器人典型工件建模与姿态规划研究

采用“搭积木”的思想提取复杂工件焊缝的特征信息,针对提取工件的特征信息提出并建立了焊缝的特征坐标系;对典型焊缝基于AutoCAD的二次开发建立数学模型,推导出任意马鞍型曲线焊缝上任意焊点的特征坐标系在基准坐标系上的投影矢量,进而获取机器人焊枪尖端的坐标系相对基准坐标系转换矩阵。这一研究对空间曲线的孤焊机器人离线编程提供了重要的技术支持。

Study of geometric model and attitude of typical workpiece welded in robot

The idea of"building block"is adopted to catch the character of complex seam welding,characteristic coordinates frame of weld ing is brought up;The mathematics model of seam is built based on the re-exploit of AutoCAD.It is deduced that the projection vector of characteristics coordinate of weld and torch relative to reference coordinates.This study is very important to offline programming of arc robot in spaced welding.