Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (11): 56-61,67.doi: 10.3969/j.issn.1000-565X.2013.11.009

• Mechanical Engineering • Previous Articles     Next Articles

Collaborative Welding Algorithm of Robots Based on Coupling and Decoupling of Kinematic Chain Ends

Zhang Tie Ying Can Zhai Jing-mei   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2013-06-25 Online:2013-11-25 Published:2013-10-11
  • Contact: 张铁(1968-)，男，教授，博士生导师，主要从事机器人技术及其工程应用研究 E-mail:merobot@scut.edu.cn
  • About author:张铁(1968-)，男，教授，博士生导师，主要从事机器人技术及其工程应用研究
  • Supported by:

    “863” 计划重点项目(2009AA043901-3);广东省战略新兴产业资助项目(2011A091101001);广东省教育部科技部产学研结合项目(2012B090600028);广东省科技计划项目(2012B010900076， 2012B011300056)

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Abstract:

With the development of welding automation,multi- robot collaborative welding has become a researchhotspot in the field of welding robots.In this paper,based on the coupling and decoupling idea of kinematic chainends,a robot workstation is regarded as the combination of several open kinematic chains connected with joints,thegeneral constraints that must be satisfied by the kinematic chain ends in the welding process are analyzed,and thecoupling/decoupling method of master/slave kinematic chains is explored.Thus,a collaborative welding algorithmof robot workstation is proposed.In this algorithm,the kinematic chain for grasping weldments is taken as the mainchain and the discrete points of welding seam are successively replaced and adjusted to the optimal welding pose,while the other kinematic chains are responsible for the tracking of current discrete points of the welding seam.Mo-reover,by taking a dual- welding robot workstation with one positioner as an example,the effectiveness of the pro-posed algorithm is verified through simulation.

Key words: industrial robot, collaborative welding, kinematic chain, coupling, decoupling