Welding Offline Programming And Simulation Of Pipe Structure

In most industrial applications, pipe structure need to take into account tightness and strength, which put forward higher requirements for pipe structure welding, and highly flexible robotic automated welding can achieve this requirement very well. While traditional robotic online teaching could not meet demands in some complicated work and high-auto need condition. Therefore, the paper has studied the technologies related with offline programming of pipe structure welding, and achieved offline simulation of robot in the direction of pipe structure welding.The paper describes the form of pipe structure, and as SIASUN industrial robot with the research subject, establishes its kinematic model based on the D-H coordinate. Then the research studies the forward kinematics and inverse kinematics of robot, and sets up the kinematic model simulations based on Matlab programming language which verifies the correctness of the model.Based on the analysis of the pipe structure welding task, which is in order to determine the corresponding robotic motion, and it is key to choose the right planning approach to achieve this path. The article discusses the robotic trajectory planning implementation in joint space, and achieves saddle intersecting line through the linear interpolation control algorithm, then gets the linear interpolation error that proves the algorithm meet accuracy requirements.The research studies the method of five points tool calibration and three points workpiece calibration, and completes the calibration of SRVWS simulation environment. Then designs a frame for offline programming system in connection with SIASUN robotic welding applications in the direction of pipe structure. The research achieves the offline programming and simulation for pipe structure welding path in SR virtual workstations, and generates the appropriate path program, thus accomplishes the offline programming system. Finally, The research establishes the communication between robotic controller and computer, and accomplishes the practical welding experiments which verifies the offline programming system is feasible.