Offline motion planning and simulation of two-robot welding coordination

doi:10.1007/s11465-012-0309-4

Front Mech Eng

2012, Vol. 7

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

RESEARCH ARTICLE

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.

Keywords complex curve seam two robots coordinated welding motion planning

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

Issue Date: 05 March 2012

Cite this article:

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

URL:

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

Fig.1 Dual-robot coordinates system

Fig.2 Calibration tool

Fig.3 Three-point calibration process

Fig.4 Three-point calibration coordinate systems and parameters

Tab.1 Parameters of robot

Fig.5 Coordinated motion planning process

Fig.6 3D model established in Solidworks

Fig.7 SimMechanics model

Fig.8

Fig.9 Solidworks-SimMechanics simulation model structure

Fig.10 Steel curved pipe structure

Fig.11 Dimensions of steel curved pipe

Fig.12 Coordinated welding task design

Fig.13 Modified steel curved pipe simulation model

Tab.2 Calibration information of Robot1

Tab.3 Calibration information of Robot2

Fig.14 Two-robot coordinated welding simulation

Fig.15 Tool end trajectories of clocewise rotation

Fig.16 Six joint displacement curves of Robot2 (clockwise rotation)

Fig.17 Six joint angular velocity curves of Robot2 (clockwise rotation)

Fig.18 Six angular accelaration curves of Robot2 (clockwise rotation)

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