ALGORITHM+AND+IMPLEMENTATION+OF+AUTO-SEARCHING+WELD+LINE+FOR+WELDING

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1、万方数据·176·CHINESEJOURNALOFMECHANICALENGINEERING、b1．19，No．2，2006ZHANGKeLUXueqinWUYixiOngLOUSOngnianIns砒ufeOfWefdingEnginee咖g，ShanghaiJiaolongUniVersily，Shanghai200030，China0INTRoDUCTloNALGORITHMANDIMPLEMENTATIONOFAUTO．SEARCHINGWELDLINEFORWELDINGMOBILEROBOT水A

2、bstr8ct：Analgorithmofauto—searchingweldlineforweld迹gmobilerobotispresented．Auto—searchingweld1ineisthattherobotcanautomaticallvrecognizeaweldgmoveaccordin2tot11echamcteristicsofmeweldgroovebeforeweldin2，andthenadiustitselfpostIlretothedesireds切tusprep撕ngfo

3、rwelding，namely，itisaprocessthattllerobotautonomouslyalignsitselftothecenterofweldingseam．Firstly，theconfigllrationofweldingmobilerobotwitht11emnctionofauto．searchingweld1ineisintmduced，thenthealgorithmandimplementationofauto—searchingweld1meareprc—sentedo

4、nmebasisofkinematicsmodelofthembot。at1astn司ectoryplanningamon2auto-searchingweld1ineisinvestigatedindetail．Theexperimentresultshowst11atthedevelopedweldingmobilerobotcansuccessmllyimplementthetaskofauto—searchingweldlinebeforeweldin戤trackinge玎orprecisionca

5、nbecontr01ledtoappmximate±I．5mm，a11dsatis母therequirememofpracticalweldin2proJect．Keywords：WeldingmobilerobotAuto—searchingweId1ineTraiectorypIaIlllingWeldingmobilerobotwithmobility，s仃ongmagnetica曲er．ingforceandhigherintellj霉rencehasalreadybecomeaperfectmea

6、nsforautomaticweldingoflar2e—scalestmctureL卜引．Butatpresent，generalweldingmobilerobotshaveonlythe胁ctionofreal．timese锄仃acl(ing'mustadiustmerobotbodvandweldingtorchandswingdevicetothedesiredposturemanuallybeforewelding’alldcan’tbeprovidedwiththeRmctionofauto．

7、searchingweldlineL∞J．Ifweldingmobilerobotonlyneedstobe口utnearmeweld1inebeforewelding，whilethembotcanauto．searchweld1ineaccordingtothecharacteristicpropertiesofweld霉Tooveandad—justitself口osturetomedesiredstatusforpreparingforwelding’namelV，therobotautonomou

8、slyalignsitselftothecenterofweld。ingseam，menitisVeryconvenientforautomaticweldingof1a唱escales仇lcmres．Inthispaper，mealgorithmandim口lementofautosearchingweld1inewillbemainlyinvestigated．1CoMPoSITIoNoFWELDINGMoB