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| Content Provider | Springer Nature Link |
|---|---|
| Author | Shi, Lei Tian, Xincheng Zhang, Chenghui |
| Copyright Year | 2015 |
| Abstract | An articulated robot cooperated with a positioner is widely used in the field of intersecting pipes welding. In order to resolve the bottlenecks in productivity caused by the burdensome manual teaching process, this article presents an algorithm to generate motion codes for industrial robot to weld intersecting pipes. A unique welding scheme that simplifies welding technology complexity is introduced and adopted. Based on the geometrical model of intersecting pipes with the most complex intersecting mode, the welding trajectory planning is developed which contains posture planning of the welding torch and weaving welding control strategy. Then the welding trajectory is decomposed into the motion of the robot torch and the positioner, and the spatial relationship between the torch and the robot base is described with homogeneous transformation matrix. Finally, an algorithm flow chart with welding speed control strategy is provided for generating robot motion codes. Simulation and welding experiment verify the feasibility of the algorithm. |
| Starting Page | 2099 |
| Ending Page | 2107 |
| Page Count | 9 |
| File Format | |
| ISSN | 02683768 |
| Journal | The International Journal of Advanced Manufacturing Technology |
| Volume Number | 81 |
| Issue Number | 9-12 |
| e-ISSN | 14333015 |
| Language | English |
| Publisher | Springer London |
| Publisher Date | 2015-06-03 |
| Publisher Place | London |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Industrial robot Intersecting pipes Weld Off-line programming Industrial and Production Engineering Production Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design |
| Content Type | Text |
| Resource Type | Article |
| Subject | Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software |
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