| 复杂空间轨迹焊接过程运动规划方法 |
| 曾锦乐, 都东, 常保华, 洪宇翔, 常树鹤, 潘际銮 |
| 清华大学 机械工程系, 先进成形制造教育部重点实验室, 北京 100084 |
| Motion planning method for complex three dimensional path welding |
| ZENG Jinle, DU Dong, CHANG Baohua, HONG Yuxiang, CHANG Shuhe, PAN Jiluan |
| Key Laboratory for Advanced Materials Processing Technology of Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China |
摘要:
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| 摘要在复杂空间轨迹构件自动焊接场合，对执行机构运动参量的合理、准确规划是保证良好焊缝成形质量和冶金质量的前提。针对已有的运动规划方法未能在空间轨迹焊接中满足焊接速度和位姿恒定等工艺要求问题，该文提出了一种适用于任意复杂空间轨迹焊接的运动规划方法。该方法首先对待焊轨迹上的离散点进行B样条插补，然后建立空间轨迹焊接运动学模型并进行逆运动学求解，获得每个时刻各关节的位移和瞬时速度。仿真计算结果表明：该方法可保证在整个焊接过程中焊接区始终处于水平状态，且焊接速度、焊炬倾角、焊炬末端与焊接区距离保持恒定的预设值。该文提出的焊接运动规划可应用于复杂空间轨迹电弧焊、激光焊和搅拌摩擦焊等自动焊接场合。 | |||
| 关键词 ：机电系统,空间轨迹焊接,运动学建模,运动规划,离线编程 | |||
| Abstract：Good forming and metallurgical quality in complex three dimensional welds requires accurate motion planning. Existing planning methods do not provide uniform welding speeds and stable positioning and pose between the torch and the workpiece. This paper presents a motion planning method for complex three dimensional path welding that first uses a B-spline curve to connect selected points along the seam. Then, a kinematic model is used to calculate the displacements and velocities of each joint at each time using an inverse kinematic method. Simulations show that this method keeps the welding region horizontal during the entire welding process and keeps the welding speed, inclination angle and distance between the welding region and the end of the welding torch equal to the predetermined values. This welding path planning method can be applied to complex three dimensional path planning for arc welding, laser welding and friction stir welding. | |||
| Key words：electromechanical systemthree dimensional path weldingkinematic modelingpath planningoffline programming | |||
| 收稿日期: 2016-01-22 出版日期: 2016-10-25 | |||
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| 通讯作者:都东,教授,E-mail:dudong@tsinghua.edu.cnE-mail: dudong@tsinghua.edu.cn | |||
| 引用本文: |
| 曾锦乐, 都东, 常保华, 洪宇翔, 常树鹤, 潘际銮. 复杂空间轨迹焊接过程运动规划方法[J]. 清华大学学报（自然科学版）, 2016, 56(10): 1031-1036. ZENG Jinle, DU Dong, CHANG Baohua, HONG Yuxiang, CHANG Shuhe, PAN Jiluan. Motion planning method for complex three dimensional path welding. Journal of Tsinghua University(Science and Technology), 2016, 56(10): 1031-1036. |
| 链接本文: |
| http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2016.22.034或 http://jst.tsinghuajournals.com/CN/Y2016/V56/I10/1031 |
图表:
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| 图１ 空间曲线轨迹焊接运动机构示意图 |
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| 图２ 坐标系建立情况和各参量的几何关系示意图 |
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| 图３ 平移台的位移量随时间的变化关系 |
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| 图４ 平移台的瞬时速度随时间的变化关系 |
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| 图５ 转台的旋转角随时间的变化关系 |
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| 图６ 转台的瞬时角速度随时间的变化关系 |
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