关键词: 协同焊接, 变位机, 主从运动链, 船型焊, 建模

Abstract: To obtain the position and orientation vectors relative to time series of discrete welding points,the solving method of positions and attitudes for discrete solder joints in a curved weld and the method for constructing a weld coordinate system based on Frenet-Serret's vector were put forward.Thus the relative position and orientation between welding point and welding torch would be derived more easily.Based on the coupling constraint relationship between the ends of active poistioner kinematic chain and the driven robot kinematic chain,the coordinated welding kinematic model and the corresponding parameter solving process were presented for the optimum ship-welding position.Morever the joint angles,angular velocities and angular accelerations of robot's and positioner's were obtained according to the parameter solving process.The motion simulation and field test of the robot-positioner coordinated welding operation showed that the system could smoothly and accurately complete the coordinated welding tasks of valve sealing surface.These results confirmed that the proposed kinematic model and parameter solving process were correct and feasible,which laid a necessary foundation for the development of automatic welding production lines.

Key words: coordinated welding, positioner, active and driven kinematic chain, ship welding, modeling