Offline kinematics analysis and path planning of two-robot coordination in exhaust manifold welding

This paper focuses on the two-robot welding coordination of complex curve seam that one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece coordinately. This paper builds the two-robot coordinate system at the beginning. After that, the non master/slave scheme is chosen for the path planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter paths through the constrained relationship automatically. Moreover, Downhand welding is employed which can guarantee the torch and the seams keep in good contact condition all the time during the welding process. Besides, a Solidworks-SimMechanics simulation platform is established, and a simulation of Exhaust Manifold welding is conducted. Finally, the results of the simulation illustrate the welding process can meet the requirements of predefined torch pose planning and the downhand welding. In addition, two advantages of two industrial robot coordinated welding are summarized compared with arc-welding robot and positioning table system.