Design of space curve automatic welding system
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摘要: 基于Rhinoceros软件生成的工件曲面模型,使用Grasshopper软件平台对工件模型进行焊接曲线提取及焊接路径规划,输出路径规划结果数据,所得数据输入控制系统对机械结构进行驱动控制;机械结构采用两自由度移动机构控制焊枪位置保证焊枪始终从焊点正上方焊接,两自由度旋转机构控制工件位姿使焊枪处于最有利于避开工件干涉的位姿,两套机构运动配合实现空间曲线的自动连续焊接,提高了焊接质量、简化了路径解算方法。
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关键词:
- Grasshopper /
- 轨迹规划 /
- 空间曲线焊接 /
- 四轴机构
Abstract: Based on the surface model of the work piece generated by Rhinoceros,the Grasshopper software platform is used to extract the welding curve and weld path planning from the workpiece model, and output the path planning result data, which is input to the control system to drive the mechanical structure; the mechanical structure uses two degrees of freedom to control the torch position to ensure that the torch always welds from directly above the welding point. The two-degree-of-freedom rotating mechanism controls the position of the workpiece so that the gun is in the most favorable position to avoid workpiece interference, and the two sets of mechanism movements cooperate to achieve automatic continuous welding of spatial curves, which improves the welding quality and simplifies the path solving method.-
Key words:
- Grasshopper /
- trajectory planning /
- space curve welding /
- four axis structure
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