The Design Of The Trajectory Planing And The Welding-torch Gesture For The Arc Welding Robot

According to the requirements of the application situation and development ofwelding technology, the traditional welding method cannot efficiently meet with theproduction demands to a certain extent. Arc welding robot technology are more and moregetting the attention of the manufacturer. And making the arc welding robot how toefficiently and accurately accomplish mass production, currently in the field of arcwelding robot is an urgent problem that need to be solved. So this needs to be at the timeof trajectory design to choose the appropriate welding gun pose. In order to making arcwelding robot completly assignments efficient and accurate is the aim to finishinghomework in this paper. Studying the whole process of welding trajectory is the purposeof main study. In the end, using the arc welding robot can finish the welding higherefficiency and higher quality for the complex saddle’s welding trajectory.Firstly, the development and application of robots has made the simple introductionin this article, and expounds the research status in detail at home and abroad. In the field ofarc welding robot technology, illustrates the important of the welding trajectory design.Secondly, SIASUN SR10robot is used in this experiment and its hardwarecomposition is introduced in detail. In addition, the connection of drawing softwareSolidWorks, assisted machining software CAM-SoftWare and virtual workstationsoftware(SRVWS) and their introduction for use are introduced.The system of Joint robot is set up again, the type of Joint robot’s sport is ensured inteaching process, and the kind of coordinate system and calibration is elaborated, throughkinematic calculation is based on SIASUN robot’s the relative attitude of each joint.Finally, designing the saddle’s welding trajectory. Drawing the saddle’s weldingtrajectory through three-dimensional drawing software Solidworks. Import the drawing into SR_CAM_SoftWare and generate trajectory. The generation of welding trajectorysimulate in virtual workstation(SRVWS). The position of the welding point in space hasbeen confirmed. Connecting the points into a closed curve, so the trajectory of weldingrobot will be inform. Then the position of welding torch and the relative attitude is set up,the arc welding robot welds and finishes the saddle’s welding trajectory. So the arcwelding robot can finish the welding operation higher efficiency.