SIMULATION OF AN INTER-BLOCK ARC-WELDING ROBOT FOR SHIPBUILDING USING A WEAVING MOTION ALGORITHM BASED ON A BEZIER SPLINE

摘要

This paper presents the simulation of a new weaving trajectory algorithm for an inter-block welding robot in a shipbuilding area (a typical example of complicated welding environment) before the actual implementation of welding robot. A triangular weaving algorithm using a Bezier spline, which is good for welding accuracy and computational load, will be applied for the inter-block welding of thick metals in shipbuilding. The simulation of a new weaving trajectory algorithm has been performed based on VisualNastran 4D®. The simulation can specify if the weaving motion of welding robot could be well performed under the restricted environment of inter-block welding in shipbuilding by modeling both the robot and its working environment. Through the simulation, whether a planned weaving trajectory can be applicable to a welding robot under complicated environment or not can be verified. Besides, such a simulation can provide a prompt reaction for flexible welding process.