Multi-Layer Welding Path Planning For Arc Welding Robot

The application of arc welding robot in thick plate welding field is not widely as in thin plate welding field. With wide application of thick plate, in order to increase the production efficiency and simplify teaching process of arc welding robot, the multi-layer welding path planning for thick plate structures was researched in this paper.MOTOMAN-UP20robot is a6-degree industrial robot. In this paper, axis of robot was established by D-H method. Based on joint parameters and joint variables, the homogeneous transformation matrix was obtained. After that, robot kinematics equation was deduced. The inverse kinematics equation solution was discussed. Then the coordinates of welding position, welding wire end and robot actuators were established. The transformation matrixes of these coordinates were also given.The multi-layer welding path planning method was described in detail. Homalographic plan method was used to filling V-groove joint. Unknown welds trajectory can be inferred from the known welds track to plan the space position of specific weld joint. Multi-layer welding path of circular trajectory was also planned. The result was to meet the requirements of circular trajectory overlapped welding process.The software ROTSY, communication software MOTOCOM32and calibration software made up off-line programming system. The3D models of robot and peripheral modules were built in ROTSY software. The software can simulate whole welding course, display the weld trace and inspect the possibility of collision and suitability of working locus. MOTOCOM32was used to transferred date between robot and PC.Finally, V-groove joint was welded based on3D graphic simulation. The result shows that multi-layer welding path planning is successful and welding quality is good.