Volume 36 Issue 7
Jul.  2010
Turn off MathJax
Article Contents
Wang Su, Miao Xingang, Li Xiaohuiet al. Torch pose fitting for intersection line welding robot based on fuzzy control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(7): 771-775. (in Chinese)
Citation: Wang Su, Miao Xingang, Li Xiaohuiet al. Torch pose fitting for intersection line welding robot based on fuzzy control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(7): 771-775. (in Chinese)

Torch pose fitting for intersection line welding robot based on fuzzy control

  • Received Date: 01 Jun 2009
  • Publish Date: 30 Jul 2010
  • Torch pose is very important in welding intersection line which is a kind of complex space curve and needs all position welding. The fuzzy control arithmetic for torch pose fitting on saddle-back coping intersection line welding robot was designed. Weld slope, weld rotation, size of groove, intersecting cylinder thickness and intersected cylinder thickness were input variables. Working angle and walking angle which are determinant factors in torch pose were output variables. A multiple-input multiple-output fuzzy controller was built, the subjection function of input variables was planned, fuzzy control principle was designed by experience induction, and the relevant rule table was built. In order to distinguish the influence on output variables with different input variables, method of weighted was employed in the fuzzy expert system. Torch working angle and walking angle were fitted. Simulation of different diameter cylinder was made. The result shows that the fuzzy control system can achieve torch pose fitting effectively.

     

  • loading
  • [1] 李晓辉,汪苏.骑座相贯线焊接机器人运动学分析及仿真[J].北京航空航天大学学报,2008,34(8):964-968 Li Xiaohui,Wang Su.Kinematic analysis and simulation of saddle-back coping welding robot[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(8):964-968(in Chinese) [2] 陈志翔,卢振洋,殷树言,等.焊缝位姿及焊枪位姿的模型[J].机械工程学报,2003,39(7):59-62 Chen Zhixiang,Lu Zhenyang,Yin Shuyan,et al.Models of weld pose and welding gun pose[J].Chinese Journal of Mechanical Engineering,2003,39(7):59-62(in Chinese) [3] 吴林,孔宇.焊接位置与焊丝方位定义的讨论及几何建模研究[J].机械工程学报,1997,33(5):49-53 Wu Lin,Kong Yu.Definition and geometric model of welding position and torch orientation[J].Chinese Journal of Mechanical Engineering,1997,33(5):49-53(in Chinese) [4] 王克鸿,刘永,徐越兰,等.基于知识的弧焊机器人焊接参数二次优化[J].焊接学报,2001,22(5):45-48 Wang Kehong,Liu Yong,Xu Yuelan,et al.Second optimizing of welding parameter for arc welding robot based on knowledge[J].Transactions of The China Welding Institution,2001,22(5):45-48(in Chinese) [5] 王文凯,彭换新.焊缝跟踪的模糊控制器设计[J].南京工业职业技术学院学报,2006,6(2):7-9 Wang Wenkai,Peng Huanxin.Design of fuzzy controller of seam tracking[J].Journal of Nanjing Institute of Industry Technology,2006,6(2):7-9(in Chinese) [6] Angeles J.机器人机械系统原理[M].宋伟刚译.北京:机械工业出版社,2004 Angeles J.Robot machine system principle[M].Translated by Song Weigang.Beijing:China Machine Press,2004(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(4418) PDF downloads(1269) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return