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Research on Coordinated Motion and Variable Path Calibration for Off-Line Programming of Arc Welding Robots

Author: LiuYunFei
Tutor: GaoHongMing
School: Harbin Institute of Technology
Course: Materials Processing Engineering
Keywords: Welding robots Offline Programming Compensation algorithm Variable path calibration Coordinated movement
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 104
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Abstract


With the promulgation and implementation of the development of the aerospace, shipbuilding, automobile manufacturing, and China's new labor law, the rapid growth in demand for welding robot, welding robot technology is an important symbol of high-tech automated welding technology. Currently, the robot using the low efficiency of the work of teaching and playback, structured light sensor tracking application limitation, off-line programming to provide a solution to compensate for or in lieu of Teach reproduction and structured light seam tracking. However, due to the presence of thermal deformation in the welding, the existing off-line programming techniques is difficult for the welding production. Offline programming techniques from the practical function of angle, on the basis of the basic functions of modeling, path planning and motion simulation, path compensation, calibration, coordinated movement and other aspects of in-depth study. The algorithm developed for path compensation the interpolation adjustment and path segments by the general kinematics seeking Inverse Kinematics Algorithm rational planning of the welding path and torch attitude, and the planned length of the weld and welding sequence through the path segments through Teach specified the end of the first two points of the welding path welding torch position and orientation to complete the path compensation. Analysis of all aspects of the off-line programming practical calibration accuracy, calibration for coordinated motion path and the path to real-time change, the the change path compensation algorithm and positioner pulse interpolation algorithm for data processing of the original offline program to achieve the the variable path recalibration, and prove that the method is also applicable to the job of a single robot calibration; the path compensation algorithm calibration accuracy was evaluated. Studied in simulation and actual work unit coordinated movements of the robot and external axes coordinated motion control strategy, and gives the spin tilting positioner inverse kinematics algorithm; research weld relative to the position of the robot placed discharge problems, and on this basis, for the welding process requirements of the actual workpiece, the coordination of several different forms of movement. Finally, the program conversion method based on the user coordinate system, the offline programming program coordinated movement data conversion, and lay a good foundation for the next experiment; offline programming welding experiment proved that the coordinated motion control algorithm and path compensation algorithm is reliable. Offline programming coordinated movement of the cylindrical workpiece and nozzle scaled pieces experimental results show that the calibration accuracy of the above algorithm for cylindrical workpieces, to the actual welding process requirements; scaled pieces can achieve coordinated motion calibration accuracy is not high, the need to improve the algorithm or the use of the new algorithm.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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