Scheme design of automatic welding system for valve sealing surface

被引：0
|
作者：
Xu Y. [1 ]
Song W. [1 ]
Qin Z. [2 ]
Zhang B. [1 ]
Zhou S. [1 ]
机构：
[1] School of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai
[2] School of Mechanical and Electric Engineering, Guangzhou University, Guangzhou
来源：
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2016年 / 50卷 / 09期
关键词：
Active and driven kinematic chain; Coordinated welding; Ship welding; Welding positioner;
D O I：
10.16183/j.cnki.jsjtu.2016.09.016
中图分类号：
学科分类号：
摘要：
The discretization method of curve weld based on Frenet-Serret's vector was proposed. Thus the position and orientation vectors relative to time series of discrete welding points and the relative position and orientation between welding point and welding torch were derived. Based on the coupling constraint relationship between the ends of the active positioner kinematic chain and the driven robot kinematic chain, the coordinated welding kinematic model and the corresponding 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. © 2016, Shanghai Jiao Tong University Press. All right reserved.
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页码：1444 / 1451
页数：7
相关论文
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