用于自动编程的机器人弧焊几何模型

Geometric Model of Robotic Arc Welding for Automatic Programming

关键词:  几何模型  机器人弧焊  自动编程

Key words:  geometric model  arc welding robot  automatic programming

摘要:

几何信息对于弧焊机器人自动编程具有重要作用。本文建立了完整的机器人弧焊几何模型。在焊缝曲线几何模型中,提出用焊缝长度作为参数建立参数方程表达任意形状的焊缝,并给出了确定焊缝上离散编程点的方法。在焊接工件几何模型中,针对焊接结构的特点,采用三级基本体素和基本体素树表示焊接工件,给出了具体的数据结构。在焊枪位姿变换中,定义了世界坐标系、焊枪坐标系和活动坐标系,给出了坐标系间的变换关系。在此几何模型基础上,开发了弧焊机器人自动编程软件包RAWCAD。试验表明,该几何模型是实用可靠的。

Abstract:

Geometric information is important for automatic program ming of arc welding robot.Complete geometric models of robotic arc welding are established in this paper.In the geometric model of weld seam,an equation with seam length as its parameter is introduced to represent a weld seam of any shape.The method to determine discrete programming points on a weld seam is presented.In the geometric model of weld workpiece,three class primitives and CSG tree are used to describe weld workpieces.Detailed data structure is presented.In pose transformation of torch,world frame,torch frame and active frame are defined,and transformation between frames is presented.Based on these geometric models,an automatic prog ramming software package for robotic arc welding,RAWCAD,is developed.Experiments show the geometric models are practical and reliable.