The Implement of Robotic Cutting Trajectory Plan for Pressure Vessel
Robot is now can used to cut the opening pore of Pressure Vessel and the end of pipe.It is important to solve the problem of robotic cutting trajectory planning for cutting of the three-dimensional curved surface and the intersected curve with groove at the end of pipe.According to the analytical geometry in the three-dimensional space,the mathematical model of intersected curve with groove is presented.Trajectory planning and cutting torch stance is fixed through the feature extraction and kinematics calculation.Using the L-positioner,the problem of robot limiting in cutting process is resolved.As a post operator,a program is developed to automatically generate corresponding robot program to match to the program language format of Kuka and Reis robot,The robot cutting trajectory supported by the above algorithms and program is tested in solidworks.
pressure Vessel intersecting curve cutting trajectory plan robot kinematics simulation
Qiu Xiaoli Xingyan Feng Shuang
School of mechanical engineering, Southeast University, Jiangning, Nanjing, Jiangsu, P.R.C.211189
国际会议
香港
英文
570-574
2012-12-11（万方平台首次上网日期，不代表论文的发表时间）