马鞍形曲线自动焊接四轴联动插补算法

Four-axis interpolation algorithm for automatic welding of saddle type curve weld

关键词:  马鞍形曲线  姿态控制  轨迹插补

Key words:  saddle-shaped curve  pose control  path interpolation

摘要:

介绍了一种马鞍形曲线自动焊接系统的工作原理、系统结构、插补算法和仿真结果.设计了具有τ,y,ρ,σ四自由度的马鞍形曲线自动焊接系统结构,通过四轴联动控制,控制焊枪运动轨迹和姿态,实现马鞍形曲线焊缝的自动焊接.在对系统运动学模型的分析基础上,利用四轴联动及空间解析几何原理,建立了马鞍形曲线焊接时的轨迹和焊枪姿态控制的数学模型,提出了马鞍形曲线自动焊接四轴联动插补算法.对马鞍形曲线实例进行了算法的仿真分析.结果表明,算法具有理想的轨迹控制精度和姿态控制精度,实现了马鞍形曲线的直接插补。

Abstract:

The principle, system structure, interpolation algorithm and its simulation of an automatic welding system for saddle-shaped curve were introduced.An automatic welding system was designed with four axes: τ, y, ρ and σ.Through the coordinated feeding of the four axes, the trajectory and pose of the welding torch can be controlled to implement the automatic welding of saddle-shaped curve weld.Based on the cinematic analysis and the principle of the space analytic geometry, the trajectory model and the welding torch pose model were established, and a four-axis interpolation algorithm for automated welding of saddle-shaped curve weld was proposed.The simulation of the algorithm shows that the algorithm has ideal trajectory and welding torch pose control precision.A direct trajectory control can be realized with this interpolation algorithm.