海洋平台导管架ky型空间焊缝焊接机器人系统研究机械设计及理论专业论文.docxVIP

方程的求解，最后根据两管道轴线方程计算机器人和管道工件之间的相对位姿矩 方程的求解，最后根据两管道轴线方程计算机器人和管道工件之间的相对位姿矩 阵，从而完成相贯接头焊接工作的快速标定任务。 进行相贯接头焊接机器人本体机械设计，设计了两个半圆结构的刚性轨道 结构，采用偏心轮锁扣结构保证轨道在支管上的快速安装，采用弹性锥轮实现小 车在轨道上的定位及装卡。开发了开放式机器人控制系统，以工控机为核心采用 多轴运动控制卡进行机器人关节电机的协调控制。在VC环境中使用Galil公司 提供的动态链接库编制了机器人控制软件，并在Solidworks中进行二次开发编制 了相贯接头焊接机器人离线编程软件。 采用自保护药芯焊丝焊接工艺在试验室及现场进行了实验，实验结果显示所 设计的机器人可以满足相贯接头的自动焊接要求，相贯接头焊后焊缝成形美观， 能够满足海洋平台导管架建造现场的工程要求。 关键词：近海石油平台；T、Y、K型接头；工件标定；碰撞检测；无碰撞规划 万方数据 AbstractTo Abstract To finish the welding job of T、Y and K joint in the offshore plateform building project，a five freedom mobile welding robot is designed．With considering the features of pipe joint，such as big pipe diameter,thick pipe wall，the space curve weld seam，and the requirement of obstacle avoidance in Y and K j oint welding，the key technology of this robot is studied． Combined with the mathematical model of small size pipe j oint and the standard of API P12A，the mathematical model of groove shape with thick wall and big diameter feature is built．The multi pass weld path planning is worked out． Considering the mathematical model of big size pipe j oint，the flexibility requirement in k j oint welding，and the engineering need of field welding，the pipe j oint welding robot is designed．The kinematics model of this robot is built，and the size of robot link is worked out according to the work space analysis． To solve the problem that the j oint value computing of redundant freedom robot，a two step algorithm is proposed．A curve approximatioss method is proposed to calculating the length of weld seam，then the velocity and accelerated velocity is calculated out to meet the requirements of conrinuous trajectory planning． The collision detection algorithm is studied to judge the collision ptobability between the lower arm and the nearby branch pipe，in the mulit branch pipe j oint welding．The packing box method is used to simplifying the mathematical model of curve objects．Two set of inequalities are used to represent two objects in collision det