青岛大学学报（自然科学版）2025，Vol.38Issue(2)：62-68,129,8.DOI:10.3969/j.issn.1006-1037.2025.02.10
偏心变位机与机器人协同焊接系统轨迹规划
Trajectory Planning for Eccentric Positioner and Robot Cooperative Welding System
摘要
Abstract
To improve the welding efficiency and quality of the reinforcement plates in oil-immersed transformers,a robot-positioner dual-system collaborative welding trajectory planning method for multi-type structural components was proposed.By fitting the weld-ing nodes to obtain the path,the motion model of the positioner was constructed,and the welding point coordinates under the horizontal welding posture were computed.A collabo-rative welding motion coupling model between the welding robot and the positioner was established to determine the synchronized welding velocity.A target function was de-signed to optimize the collaborative welding trajectory,ensuring that the welding posture meets the processing requirements and achieving one-time welding formation.Experimen-tal results show that the overall welding process is smooth with coordinated operation be-tween the robot and the positioner,achieving one-time welding formation for complex welds and significantly improving welding efficiency.关键词
双机协作/轨迹规划/运动耦合/目标优化Key words
dual-machine collaboration/trajectory planning/motion coupling/objective optimization分类
计算机与自动化引用本文复制引用
刘建春,张世杰,林剑锋,谢传禄,李伟..偏心变位机与机器人协同焊接系统轨迹规划[J].青岛大学学报（自然科学版）,2025,38(2):62-68,129,8.基金项目
福建省高校产学合作项目(批准号:2021H6036)资助. （批准号:2021H6036）
