Feature modeler of welded structure provides both 3D-geographical and non-geographical features for the off-line programming of are welded robot. Welded structure is regarded as an assembly, the design of welded structure consists of three aspects: plane, joint, and groove design. Each aspect corresponds to a category of features. The plane features are defined by interactive feature definition. A method analogous to the "mating feature" is introduced to represent the joint features. Based on AutoCAD 2000, a B-rep solid modeler, a prototype system is implemented.
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