Off-line Programming Of Arc Welding Robot Based On UG And Welding Qualification Based On Statistic Methods

With the people's daily improving the living conditions, the one-commodity model can't meet people demands for commodity diversification. Therefore, the models of small-batch and diversification production are born at the right moment. Higher requirements for productions relevant to welding robot are put forward. The methods of conventional on-line programming of arc welding robot can't satisfy the requirements above. Besides, on-line programming of arc welding robot needs robot to stop work, which not only saps the efficiency but also increases the production costs. In view of the above, the methods of off-line programming of arc welding robot have become the main research contents in the field of welding in recent years.In this dissertation, the research on off-line programming of MOTOMAN HP6 arc welding robot is taken by using UGNX4.0 as development platform and using VC++ as development tool. Meanwhile, the qualification of welding quality is performed by using statistics methods. The main research substances are as follows:First, 3D models of MOTOMAN HP6 arc welding robot and positioner are founded at their actual sizes. The equipment modeling of arc welding robot includes three key modules: parts modeling module, assembly modeling module and kinematic module.Second, various parts models are assembled and 3D motion simulation models are founded. The kinematic models of arc welding robot in a link frame are set up using secondary development functions provided by UG/OPEN API. The establishing methods, assembly ways and motion simulation of models are enunciated. The kinematic and inverse kinematic of this kind of arc welding robot are calculated with four D-H parameters. The weldment feature modeling that is based solely on the butt joint model and tubal bead model is established.Third, the change curve of joint angle of MOTOMAN HP6 arc welding robot in joint-space is obtained by a method integrating the joint-space method with the right angle space method and by simulation of interpolate points in the process of motion in Matlab software.Fourth, the qualification of welding quality is performed by the calculation of Mahalanobis Distance and by applying the theory of Norman Distribution. The welding faults are obtained by changing the welding parameters during welding process, and at the same time, the values of the welding current and arc voltage are sampled. The sampled values of welding current and arc voltage are calculated in Matlab software by applying the qualification thinking of Mahalanobis Distance and Normal Distribution. Whether the welding quality is good or not is executed by using the calculations.Fifth, according to the thinking of Mahalanobis Distance and Normal Distribution, the formula and reference of quantitative welding quality are given. In view of the above, software and hardware facility which is competent to qualify the welding quality online is developed. This equipment has a full capacity to qualify the welding quality online by the plentiful experiments, which provides a firm quality guarantee for the welding production.