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Abstract: The
models of weld pose and welding gun pose, in which the position and the
orientation of weld and welding gun are described precisely and
quantificationally by coordinates, were established for robot arc
welding. Then, welding position and welding gun orientation are
represented by weld slope, weld rotation, work angle and traveling
angle. The methods of calculating those parameters are also carried out.
The parameters are easy to calculate and could directly reflect the
factor that welding position and welding gun orientation affect welding
quality. It is very important to model weld pose and welding gun pose
for welding process modeling, simulating and off-line programming for
robot welding.
Key words: Model of weld pose Model of welding gun pose Robot arc
welding
CLC No: TG409
北京市科技基金资助项目(H010310050111). Received 20020806, received in revised form
20021008
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