Processing of bars-converging joint and engineering application

The complex structure of the shaped surface formed by a kind of bars-converging single-layer reticulated shell joints is analysed, and the characteristic of higher precision in production is considered, the patter decomposing - patter processing - patter assembling -patter casting joint processing flow is put forward. According to the joint design data, the joint spatial axis model is built, the spatial orientation description method is proposed, the developed SolidWorks 3D drawing software is used to import the design data to visualize the joints in 3D model. According to the joints splitting and assembling principle, the mathematical model of joint processing is derived, based on the mathematical model, the joint processing equipment based on the TriVariant series robots is developed, the real time control of the joint NC machining system is implemented. The results of this research have been verified in the large complex steel structure building of the Sun Valley for Shanghai World Expo and the roof of Star Mall in Shenyang, now the research is being used in the Cell Wall of the new natural museum in Shanghai which is under construction.