The prefabrication of BOSS requires multi-layer multi-pass welding with three-dimensional saddle shaped trajectories

which makes robot teaching and playback technology not suitable for actual use demands. Therefore an offline programming technology is developed

which allows users to self-define the arrangement of beads. By inputting the number of layers

the number of beads in every layer and the sectional area of single pass

all the welding trajectories can be generated automatically. Welding experiments indicate that this technology is suitable for BOSS prefabrication

which can greatly improve the welding quality and productivity.