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Simulation and trajectory generation of dual-robot collaborative welding for intersecting pipes

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Abstract

The welding of spatial intersecting curves is widely used in the pressure vessels, in which the welding quality cannot be achieved by traditional methods. To this end, this paper proposes a novel methodology of dual-robot welding for the intersecting pipes by means of motion planning and off-line programming. This method takes advantage of the redundancy of the dual-robot system to obtain alternative paths for the collaborative welding task. Based on the mathematical model of the welding seam, the intersecting curve trajectory of the intersecting pipes is generated through the relevant mathematical theory and the MATLAB programming. The intersecting curve trajectory is decomposed into the welding trajectory and collaborative trajectory, and then imported into the RobotStudio simulation platform. The collaborative welding operation of dual-robot is finally achieved, which verify the effectiveness of the proposed methodology.

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Funding

This work was partially funded by the Natural Science Foundation of China (51805380, 51875415), the Innovation Group Foundation of Hubei (2019CFA026), and the Scientific Research Foundation of Wuhan Institute of Technology (K201707). The second author gratefully acknowledges funding support by the China Scholarship Council China Scholarship Council (201708420275).

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Wuhan Institute of Technology, Wuhan, 430205, China

    Jiahao Xiong, Zhongtao Fu, Hang Chen & Xubing Chen

  2. Department of Engineering, Center of Robotics Research, King’s College London, London, WC2R 2LS, UK

    Zhongtao Fu

  3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Jiabin Pan

  4. Faculty of Materials and Manufacturing, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, 100124, China

    Xiangsheng Gao

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  1. Jiahao Xiong
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  2. Zhongtao Fu
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  3. Hang Chen
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  4. Jiabin Pan
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  5. Xiangsheng Gao
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  6. Xubing Chen
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Correspondence to Zhongtao Fu.

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Xiong, J., Fu, Z., Chen, H. et al. Simulation and trajectory generation of dual-robot collaborative welding for intersecting pipes. Int J Adv Manuf Technol 111, 2231–2241 (2020). https://doi.org/10.1007/s00170-020-06124-w

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  • DOI: https://doi.org/10.1007/s00170-020-06124-w

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