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《Journal of Tsinghua University(Science and Technology)》 2017-08
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Kinematics analysis and trajectory planning for a welding robot for girth welding of box-type steel structures

ZHU Zhiming;GUO Jichang;MA Guorui;LIU Bo;Key Laboratory for Advanced Materials Processing Technology of Ministry of Education,Department of Mechanical Engineering,Tsinghua University;  
A straight-arc combined orbital welding robot system was designed for girth welding of box-type steel structures at construction sites.The kinematics analyses used the standard D-H model and the Craig modified D-H model for this welding robot with evluations based on the modeling accuracy and solution process for the welding torch trajectory planning for girth welding of box-type steel structures.The trajectory planning method could adjust for arbitrary spatial position and posture relative to the welding torch with the minimum degrees of freedom.The planning mehtod gave an efficient trajectory for right-angle welding of the box-type steel structure.Simulations show that the welding robot system can provide the girth welding of box-type steel structures and can ajust to various spatial positions and postures.
【Fund】: 国家科技重大专项(2012ZX04012011);; 国家自然科学基金项目(51075231)
【CateGory Index】: TP242
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