Kinematic analysis and trajectory planning of J-groove welding robot

Abstract

This paper introduces the complexity and particularity of tube-sphere intersection weld (J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory. Based on the characteristics of J-groove welds, the computational process of welding gun orientation is first simplified. Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula. Finally, Solidworks and Sim-Mechanics are employed to simulate the kinematics of the welding robot, which proves the feasibility of the kinematic algorithm.

Keywords

tube-sphere intersection / screw theory / kinematic analysis / trajectory planning

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