弧焊机器人针对V形坡口的焊接路径规划设计与仿真分析OA北大核心CSTPCD

In order to solve the welding deformation problem of the arc welding robot facing the V-shaped groove of the medium and thick plate,by analyzing the characteristics of traditional layer-by-layer stacking welding,which is easy to cause heat accumulation and leads to welding deformation,a combination of V-shaped cross-section projection trajectory,spatial parallel reciprocating trajectory(SPRT)and spatial contour offset trajectory(SCOT)are combined to establish V-shaped welding layer to achieve rapid heat dissipation during welding process.At the same time,on the basis of establishing the analytical expressions of the trajectory equations,the advantages and disadvantages of the SPRT and the SCOT and the traditional layer-by-pass welding are compared and analyzed by Simufact Welding and MATLAB simulation software.To further verify the feasibility,the FANUC industrial robot was used for experiments.The simulation and test results show that based on the deformation of the parts in the y and z axis directions,the SPRT and SCOT are better than the traditional layer-by-layer welding method,and the SCOT is better than the SPRT.However,in the SPRT,the spatial pose adjustment of the robot end effector is relatively simple,the introduction error is small,and the control precision is high during the orbit transformation process,which is more suitable for narrow and short V-grooves;and the SCOT is more suitable for the wider and longer V-grooves.