关键词: 搅拌摩擦焊机床, 运动学模型, D-H法, 切线跟踪, 运动仿真

Abstract:  Most of the existing friction stir welding equipment lacked effective monitoring of processing variables. The establishment of an open control system was an effective means to solve this problem. However， there were two major differences between the friction stir welding processes and the traditional metal cutting processes， namely the welding inclination and arc tangent tracking functions. Existing equipment integrated the arc tangent tracking function into the control system， which led users to special design for this function if they studied open controllable systems， which in turn led to longer equipment development cycles and to increase costs. An open control system was built based on Ether CAT， and then a gantry type friction stir welding machine (tool) was taken as an example， the D-H method was used to derive the machine (tool) full-parameter forward and reverse kinematics mathematical model， and a simple plane the two-dimensional arc tangent tracking method was proposed， which might complete friction stir welding without studying the three-axis interpolation algorithm on the basis of the existing two-axis arc interpolation. Finally， a typical welding seam trajectory was selected for motion simulations and welding tests， which verified the correctness of the parameterized kinematics model of the machine (tool) and the feasibility of the arc tangent tracking method. 

Key words:  , friction stir welding machine, kinematic model, D-H method, tangent tracking, motion simulation