一种基于三角迂回的激光焊接折角速度算法
发布时间：2018-08-26 11:40
【摘要】：针对折角处的激光焊接速度难以保持恒定而导致焊缝不均匀的问题,提出一种基于三角迂回的速度规划算法.焊枪移动到折角处后不直接作折角加减速运动,而是停止焊接的同时继续前行作一个三角型的迂回运动,待迂回到折角处再以原来速度重启焊接过程.实际的激光焊接轨迹可实现恒定速率运动以保证焊缝的均匀性,而三角迂回运动则采用S形速度曲线以降低对焊接平台的柔性冲击.该速度规划算法对于各种折角大小具有普适性.仿真和试验结果验证了所提方法的有效性.
[Abstract]:Aiming at the problem that the laser welding speed at the corner is difficult to keep constant and the welding seam is not uniform, a speed planning algorithm based on triangulation is proposed. After the welding torch moves to the corner, it does not do the angle acceleration and deceleration movement directly, but stops welding and continues to make a triangle detour motion, and then restarts the welding process at the original speed. The actual laser welding track can achieve constant velocity motion to ensure the uniformity of weld seam, while the triangular tortuous motion adopts S-shape velocity curve to reduce the flexible impact on the welding platform. The speed planning algorithm is universal for various angle sizes. Simulation and experimental results show the effectiveness of the proposed method.
【作者单位】： 浙江大学电气工程学院;
【分类号】：TG456.7
，
本文编号：2204763
[Abstract]:Aiming at the problem that the laser welding speed at the corner is difficult to keep constant and the welding seam is not uniform, a speed planning algorithm based on triangulation is proposed. After the welding torch moves to the corner, it does not do the angle acceleration and deceleration movement directly, but stops welding and continues to make a triangle detour motion, and then restarts the welding process at the original speed. The actual laser welding track can achieve constant velocity motion to ensure the uniformity of weld seam, while the triangular tortuous motion adopts S-shape velocity curve to reduce the flexible impact on the welding platform. The speed planning algorithm is universal for various angle sizes. Simulation and experimental results show the effectiveness of the proposed method.
【作者单位】： 浙江大学电气工程学院;
【分类号】：TG456.7
，
本文编号：2204763
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