Study On Key Technology Of Complicated Intersecting Lines In Spatial Steel Structure By Cutting Robot

This paper closely base on the application of the novel5DOF robot-TriVariant-B inthe cutting of the pipe intersecting line, the key cutting technology of robot for thecomplex intersecting line formed by the spatial steel tubular is studied, the mathematicalprinciple is used to get the expression formula of the complex intersecting line of spatialsteel structure, and to get the complex mathematical model of the steel pipe intersectingline with lower roundness in actual production. The groove angle and cutting direction inthe cutting process is considered for the trajectory planning, SolidWorks software andVericut simulation software are used for steel tubular model presentation and cuttingprocess simulation. Through the experiment, the practical engineering application issummarized. The paper obtained the following creative results:According to the spatial steel tubular complex intersecting line in three-dimensionalmodel, through the establishment of the spatial coordinate system, thethree-dimensional space transformation of homogeneous coordinate system bytranslational and rotational transformation is used, the general equation of thecylindrical hollow pipe in the Cartesian coordinate system is deduced, the cylindricaltube equations are combined for solving complicated equations of the intersectingline mathematical model. The same method is used to solve the pipe intersecting linemathematical model in actual production, it prepares for the software simulation andtrajectory planning.Based on the space mathematical model of the complex intersection line, the slopeangle, cutting angle and the cutting direction are considered, through the inversekinematics of robot, the end effector trajectory planning is undertaken, the positionand posture is planned when the end effector is in the transition between adjacentsegments of the complicated intersecting lines, to make the transition motion of theend-effector stable, reliable and save time.The related data and parameters of the intersecting line by the mathematical modelare derived, based on the developed SolidWorks software, the multiple tubular3Dmodels is recurred and the virtual preassembling through repetition is realized in theSolidWorks software, through the repetition model and preassembling results, thecorrectness of the parameters and data derived by the complex intersection line mathematical model is verified.Because of the high cost of the large steel pipe in actual production, so it must beensured that the cutting process is accurate before cutting, through Vericut software,the cutting process simulation of the complex intersecting line formed by multipletubular is undertaken, the tool is used to simulate the cutting robot, through NCprogramming the intersecting line cutting process is simulated, the accuracy of thecutting movement is verified, getting ready for the actual production.Through the experiment, the engineering application of space steel structurecomplex intersecting line cutting robot is summarized in this issue, the conclusionsare obtained and the future research and development is prospected.