fme.02.2018.04.06

To improve the efficiency and accuracy, as well as decrease the cost of the tube assembly and welding, this paper presents a tube flexible assembly and welding system based on the combination of photogrammetry and cooperating robots. This system consists of the measurement subsystem, the cooperating robot subsystem and the software subsystem. Based on these, the methods of calculating the allowance position for cutting and computing the posture of robots are proposed. A simulation process based on CATIA was built to verify the validity of the presented method. A control document, containing the information of robots’ kinematic parameter, can be created by the system and guide the cooperating robots to gripe, assemble and weld the tubes flexibly and rapidly.