Modeling and simulation of synchronous linkage moving pose for two-welding torch

Established the mathematical modal of intersecting line weld joint of T cylinder pipe and two-welding torch pose. And when the welding precision and weld pose are as constraint conditions, the function relation of the position and turning displacement distance of welding torch and time are deduced in the interpolation period. The corresponding relation of welding turning angle and time is computed through VC++ program. And then moving track is confirmed based on the terminal controller of welding machine. The motion simulation and disturbance detection of three-dimensional model shows the mathematical modal of welding torch is accurate.