The Collision Avoidance Path Planning of K-Joint Automatic Welding Robot

Abstract:

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A four freedom robot able to carry out automatic welding of offshore platform is introduced in this paper. The kinematic design of the robot has been designed according to the welding seam feature of T/Y/K-joint. The path planning of T/Y and the obstacle avoidance technique are used to study the robot’s collision avoidance welding on K-joint. In the process of K-joint path planning, the geometrical method was adopted to study the welding torch’s posture in branch gap. And for ensuring the postural stability of robot, the robot posture of a series welding points in single branch pipe condition was adjusted gradually in K-joint condition. The automatic welding process of K-joint was simulated in Solidworks. The result shows that the method could satisfy the collision avoidance requirement in the K-joint welding project.

Info:

Periodical:

Advanced Materials Research (Volumes 317-319)

Edited by:

Xin Chen

Pages:

723-726

DOI:

10.4028/www.scientific.net/AMR.317-319.723

Citation:

T. Q. Wang et al., "The Collision Avoidance Path Planning of K-Joint Automatic Welding Robot", Advanced Materials Research, Vols. 317-319, pp. 723-726, 2011

Online since:

August 2011

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Price:

$35.00

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