The Implement of Robotic Cutting Trajectory Plan for Pressure Vessel

Xiao Li Qiu; Yan Xing; Shuang Feng

doi:10.4028/www.scientific.net/AMM.271-272.570

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 271-272The Implement of Robotic Cutting Trajectory Plan...

The Implement of Robotic Cutting Trajectory Plan for Pressure Vessel

Abstract:

Robot is now can used to cut the opening pore of Pressure Vessel and the end of pipe. It is important to solve the problem of robotic cutting trajectory planning for cutting of the three-dimensional curved surface and the intersected curve with groove at the end of pipe. According to the analytical geometry in the three-dimensional space, the mathematical model of intersected curve with groove is presented. Trajectory planning and cutting torch stance is fixed through the feature extraction and kinematics calculation. Using the L-positioner, the problem of robot limiting in cutting process is resolved. As a post operator, a program is developed to automatically generate corresponding robot program to match to the program language format of Kuka and Reis robot. The robot cutting trajectory supported by the above algorithms and program is tested in solidworks.

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Periodical:

Applied Mechanics and Materials (Volumes 271-272)

Pages:

570-574

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.271-272.570

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Online since:

December 2012

Authors:

Xiao Li Qiu, Yan Xing, Shuang Feng

Keywords:

Cutting Trajectory Plan, Intersecting Curve, Kinematics Simulation, Pressure Vessel, Robot

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References

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