Fillet Welding Seam-Tracking Simulation And Intelligent Control System For Mobile Robot

At the present time, the fillet welding seam-tracking of big work piece mainly depends on touched sensor, the shortcoming of it is wearing away quickly and deformation easily. In this paper, we want find a way to track the fillet welding seam by untouched sensor—rotating arc sensor, which is equipped on an automatic moving wheeled robot.To solve the structure problem of our laboratory's wheeled robot which based on car's theory, we redesign a new wheeled robot, the newly-designed robot is driven by two middle wheels, and we placed two universal wheels in the front and the rear of it to balance the robot body. It not only enhance the quickness of the robot, but also decrease the difficulty of control.The virtual prototype technology is introduced in this paper. Using the following software: Pro/Engineer Wildfire + Mechanism/Pro 12.0 + MSC. ADAMS 12.0 + MATLAB 6.5, we simulate the movement control of the redesigned robot. We attempt to find a new way of simulation by using the same model of mechanical model and control model. We build the mobile robot model in Pro/Engineer for its powerful function on model building. Then transfer it to ADAMS 12.0 through Mech/pro 12.0. We regard it as a model module in MATLAB 6.5 Simulation control system when simulate with ADAMS and MATLAB. Supposing that the robot can identify the welding seam accurately, we simulate the motion control of mobile robot's seam-tracking in different condition of line, slash and curve. The simulation result can be the foundation of control.At last this paper analyzes the signal processing method for the fillet welding seam-tracking using rotating arc sensor. It especially analyzes the influence of the molten metal in the molten pool. We obtain an array by comparing the difference of the ideal signal and measured signal. After compensating to the measured signal by this array, we can get the weld error by the first harmonic approach. At the end of the paper we design a control program to control the fillet welding sea-tracking and get a satisfied result.