| Summary: | 碩士 === 國立宜蘭大學 === 機械與機電工程學系碩士班 === 107 === As an increasing number of robots has been used in factories, effective and flexible use of robots has become paramount. This study investigated the use of offline programming software to design the welded T-shaped tube for the tungsten inert gas welding robot; jigs required for the manufacturing process in the T-shaped tube welding workstation were then designed. When using a demonstrator for programming, the robot arm is typically moved to the welding point manually, which easily causes the welding points to be at an inaccurate location. This further influences the welding quality and causes programming to be time-consuming. Accordingly, this study used the offline programming software Robotmaster to establish a 3D virtual robot environment and conducted trajectory planning according to the processing needs. Welding may cause the single side of the tube to be overheated and thus influence the tube verticality, or may cause the angle of robot arm joint to change considerably and thus generate a singular point. To prevent these problems, when planning the welding trajectory for the T-shaped tube, this study divided the welding trajectory into four segments, and optimized the motion trajectory by adjusting the posture of welding torch to reduce the change of the joint angle. Finally, the post-processing program in the Robotmaster was used to output the executable files of the robot arm for the welding trajectory test. The test result showed that the robot arm did not collide with the workpiece. In addition, only slight angle changes were observed, and no singular point was generated. Metal melted at all welding points, which verified the feasibility of the welding trajectory output from the 3D virtual robot environment established by using the Robotmaster. In the future, if workpiece or manufacturing process requires replacement, the virtual environment parameters can be changed to rapidly output the executable files of the robot arm, thereby reducing the time required for trajectory programming.
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