摘要
基于变位机-机器人主、从运动链末端的耦合约束关系,提出以船型焊为最佳焊位时的协同焊接运动学模型及参数求解流程。变位机-机器人协同焊接阀体密封面的运动仿真和现场试验表明,该系统能够平稳、准确地完成预期的焊接任务,证实了协同焊接运动学模型及参数求解方法正确可行。
Based on the coupling constraint relationship between the ends of the active poistioner kinemat- ic chain and the driven robot kinematic chain, the coordinated welding kinematic model and the corre- sponding parameter solving process were presented for the optimum ship - welding position. The motion simulation and field test of the robot - positioner coordinated welding operation show that the system can smoothly and accurately complete the coordinated welding tasks of valve sealing surface. These results confirm that the proposed kinematic model and parameter solving process are correct and feasible.
出处
《阀门》
2016年第1期12-16,共5页
VALVE MAGAZINE
基金
上海市大学生创新创业训练计划项目资助(cs1501003)
关键词
阀体
密封面
协同焊接
变位机
主从运动链
船型焊
body
sealing surface
coordinated welding
welding positioner
active and driven kinematicchain
ship welding
