Dual Robot Coordinated Welding Trajectory Planning for Single Y-Groove Weld Seam of Plug-in Cross Pipe

In order to improve the automation level of saddle-shaped space curve welding, two six-degree-of-freedom industrial robots are taken as the research objects. Firstly, the welding process planning of single y-groove is carried out, and a welding strategy of multi-layer double track swing welding strategy is proposed on the premise that the welding speed and wire feeding speed are fixed, and the trajectory planning of multi-layer double track swing welding is realized. Then, the joint coordinate system of the dual-robot cooperative welding model are established and its terminal pose is determined by discretization. And based on the ship welding, the pose transformation relationship between the welding seam and the welding gun coordinate system is determined and discretized. In order to verify the welding planning method proposed in this paper, MATLAB and ADAMS are used for simulation and verification. The results prove that the welding planning method is reasonable and effective, and has certain theoretical and application value.