Offline motion planning and simulation of two-robot welding coordination

doi:10.1007/s11465-012-0309-4

Frontiers of Mechanical Engineering

2012, Vol. 7

Issue (1): 81-92 https://doi.org/10.1007/s11465-012-0309-4

RESEARCH ARTICLE

本期目录

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG(

)

School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China

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Abstract：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

Key words： complex curve seam two robots coordinated welding motion planning

收稿日期: 2011-11-16 出版日期: 2012-03-05

Corresponding Author(s): OUYANG Fan,Email:oooyyyfff@hotmail.com

引用本文:

. Offline motion planning and simulation of two-robot welding coordination[J]. Frontiers of Mechanical Engineering, 2012, 7(1): 81-92.
Tie ZHANG, Fan OUYANG. Offline motion planning and simulation of two-robot welding coordination. Front Mech Eng, 2012, 7(1): 81-92.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-012-0309-4
https://academic.hep.com.cn/fme/CN/Y2012/V7/I1/81

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