Jinsong TIAN
,
Lin WU
,
Ming DAI
,
Yu KONG
材料科学技术（英文）
Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic are welding. An are welding system with a robot and a rotating/tilting positioner is a major application area, where manual programming is a very tedious job. Off-line programming is a constructive way to solve the problem. The inverse kinematics algorithm of robot and positioner is the foundation of the off-line programming system. Although previously there were some researchers who studied the positioner inverse kinematics algorithm, they only focused on a special solution of the positioner inverse kinematics, which is the solution at down-hand welding position. However, in welding production, welding position other than down-hand position is also needed. A method for representing welding position was introduced. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented.
关键词:
Tong LIU
,
Jinsong TIAN
,
Lin WU
,
Ming DAI
材料科学技术（英文）
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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