Robotic Arc Welding Off-Line Programming System And Automatic Programming Technique

According to the application condition and development need of welding robots in China, off-line programming and simulation for welding robots is one of the new techniques which are paid importance to. Intelligentizing is becoming the development direction of the off-line programming system, The auto-programming technique is just presented to improve the system's intelligence and programming quality. To develop our intelligent arc welding off-line programming system and meet the needs of the remote welding application, the studies of the basic supporting techniques in the robotic offline programming and simulation system and the computer aided programming techniques in the arc welding application are carried out in this dissertation.The Solidworks software is selected as the system's running platform, it has the properties of strong modeling and excellent openness, which meet the development demands and functional demands of the new system. Considering the basic functional demands to realize programming and simulation, the functions of the system are divided into ten basic models, such as device modeling, work cell layout, path and motion simulation et.al. There are three-level main data structure models in the realization of the system which are the work cell class, the device class and the joint class. The properties of each basic functional models is introduced, and the methods solving the key techniques are given. Some new programming techniques are adopted, which made the system's realization easier and reasonable, such as the structured storage technique is used to solve the device object's storage and reconstructed the stack and thread techniques are used to solve the robot's motion control.The general six rotational industrial robot's inverse kinematics algorithm is realized, this algorithm's thinking is that the robot's link parameters are all symbol represented and the robot's positive kinematics equation is expanded and solved. The symbolic computation and elimination are used in the solving process, and the equation group is constructed to solve the joint values. In the solving process the matrix's singular problem is solved, finally the general analytical solutions of the six rotational robot's inverse kinematics problem are...