Off-Line Programming And Implement For Arc Welding Robot Based On 3D Graphics Simulation

According to the application condition and development direction of arc welding robots in industry, off-line programming for arc welding robots is one of the new techniques which are paid importance to. With the technology of 3D graphics simulation, off-line programming for arc welding robots has been studied in this dissertation.The geometrical models of robot and positioner based on CAD and their kinnematics are basic of off-line programming and graphics simulation. The 3D CAD models of the arc welding robot and positioner have been modeled in Solid Edge software. Their kinnematics have been resolved.Extracting pose information of welds is key technology of off-line programming in graphic environment. Path planning of arc welding robot can be made after pose information of welds is extracted. At first, the geometric model of weld has been made and been defined. The' pose information of welds has been extracted from the CAD model of workpiece. The information can be edited according to weld technology.The mathematical models are introduced to describe weld position and weld torch orientation according to welding process custom. Weld position is characterized with tilting angle, deflecting angle and drifting angle of weld. Weld torch orientation is characterized with traveling angle, working angle and rotating angle. Path planning of arc welding robot includes below two. First, weld is planned in the fillet position described with tilting angle and deflecting angle. Second, pose of weld torch is planned described with traveling angle and working angle. The pose of robot has been made better through adjusting rotating angle of weld torch. The path between two welds has been planned through off-line teaching.Graphics Simulation has been researched with 3D models. Motion simulation reappears vividly the process of arc welding robot running,that can check the correctness of path planning. The technology of interference check has been researched.Aimed at two actual workplaces, experiments of arc welding robot off-line programming based on 3D graphics simulation have been made. Comparing with the teaching-playing programming, arc welding robot off-line programming based on 3D graphics simulation is able to improve the quality and the efficiency of robot arc welding.