柱坐标熔焊机器人分层算法与成形效果分析

Research and forming effect analysis on slicing algorithm of cylindrical coordinate robot welding

关键词:  柱坐标  熔焊成形  遗传算法  摆振  分层软件

Key words:  cylindrical coordinates  fusion welding  genetic algorithm  shimmy  layered software

摘要:

在对柱坐标熔焊成形设备介绍的基础上，提出适用于回转框架结构的自适应分层、填充算法，通过三次择优筛选，减少网格的无效判断次数；建立了叠层堆积的误差模型，结合截面轮廓曲率变化动态计算适应成形精度要求的分层厚度；以NURBS作为基函数对分层轮廓进行最小二乘拟合，通过遗传算法寻找最佳拟合权值优化拟合结果.结果表明，成形过程中焊枪运行平稳，悬臂摆振较小；采用柱坐标特有的回转结构进行圆弧填充，避免了各焊缝间的成形时间等待和折线轮廓带来的过堆积现象，最后通过实际案例验证了分层软件的稳定性与可行性.

Abstract:

The adaptive filling algorithm for rotary frame structures is proposed, based on the introduction of cylindrical coordinate welding equipment. The number of invalid judgments was reduced by three priority screening. An error model for stacking deposits is established and the thickness of the forming layer is calculated combined with the error model and sectional curvature. The NURBS curve is used as the basis function for the least square fitting of the hierarchical profile. The genetic algorithm is used to find the best fitting weights and optimize the fitting results. The experimental results show that the welding torch operates smoothly and the cantilever shimmy is smaller; The special rotation structure of cylindrical coordinate is adopted to fill the arc, so that the forming time waiting and the over accumulation caused by the broken line contour are avoided. Finally, the stability and feasibility of layered software are verified by a practical case.