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Abstract:
One new kind of robot system which adopts a new wheeled-pedrailed mobile
machine is introduced and the constitution of the system and operating
principle are developed thoroughly. The robot system is composed of
mobile machine, welding system, visual sensor system and control system,
which is a kind of automatic welding system neither use track nor
navigation. The mobile machine has strongly load
capacity
and move agility, which is satisfactory to the request of the all
position on the large workpiece. Through abundance experimentation, the
moving ability of mobile machine is analysis and it’s kinematics model
is built up. A kind of switch controller is designed aim at the
complexity of the robot system. Then the cooperative control between
mobile machine and crosshead is obtained to achieve seam tracking
accurately. The trackability experiment and the all position multilayer
and mul-tipass welding experiment are proceeded, the satisfactory result
is obtained. The automation welding process of the large workpiece is
realized.
Key words:Crawling
robot Seam tracking technique Welding on large workpiece
CLC No: TP2
国家自然科学基金(50075037)和国家863计划(2001AA422220)资助项目.
Received 20050710, received in revised form 20060303
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