Study On Mobile Welding Robotic System

Welding of large-scale storage tanks,spherical tanks,and pipeline in the petrochemical industry,mostly operations at the scene.The location of manual welding can not be reached,poor working conditions of workers not only increases the labor intensity,but also affected the quality of welding.It need to be developed low-cost automated welding equipment to replace the manual workers in engineering, in order to reduce the impact of environmental factors in the production process,and to improve the welding quality.In this paper,it have proposed a solution corresponding.1.Design a magnetic crawler-type all-position auto-crawling structure. Analyzed all the core function of the crawling structure,compare the advantages and disadvantages of the existing program and then choose,achieved the design of the mobile structure.The design using the anti-collapse devices ensure that the structure crawls on the tank without the laying track.2.Using the concept of plat stability,the paper transforms the research on track-type mobile welding robot into the study in stability of two-dimensional instability,and obtains the robot stability conditions and principles leading forms of instability to determine,so as to establish the quantitative relationship between robot's stability and adsorption of magnetic force.3.This mobile device mounted a compact structure,a flexible manipulator, ensure that it can achieve all- position welding.The use of the relationship between the index spinor transform of movement and manipulator's configuration matrix, derived in a unified products-of-exponential formula of manipulator's forward kinematics and application of inverse kinematics of sub-problems.According to the manipulator's constraints to choose the optimal solution.4.Accordance with the tasks of Mobile welding robot,manipulator's trajectory has been planning based on joint space method and Cartesian space method,and verify by MATLAB's simulation.Based on the idea of reconstruction,the robot been designed along with this scheme(program) can be applied to a large cylindrical,spherical tank welding, testing,painting etc.,greatly pushing forward the realization of automated welding.