Positional accuracy analysis of welding robot under mechanism clearance and elastic deformation
文献类型：会议论文
| 作者 | Mao Yijian ; Jing Fengshui; Liang Zize; Fang Zaojun,
|
| 出版日期 | 2016-12 |
| 会议日期 | 2016-6 |
| 会议地点 | Guilin, China |
| 关键词 | Positional Accuracy Welding Robot Mechanism Clearance Elastic Deformation |
| 页码 | 3252-3258 |
| 英文摘要 | Aiming at the special environment of aluminum plant, a dual-arm robot composed of carrying arm, welding arm and sliding rail is developed. It is able to accomplish automatic welding a certain amount of steel sheets between the two ends of the cathode bus in aluminum electrolytic cells. Designed welding robot can be abstracted as a planar mechanism with three revolute joints. Position accuracy, one of the most significant performance evaluations of an industrial robot, is analyzed under joint clearance, drive backlash and elastic deformation. Normally joint clearances and drive backlash are identified as two contributors for positional errors in serial chain manipulator. In our model, elastic deformation is taken into consideration for higher precision. Deformation differs with different position, causing highly coupling degree and computation complexity. Experiments about the effects of the three influence factors are well conducted. Maximum errors influenced by clearance, backlash and deformation are estimated at all possible manipulator positions. |
| 语种 | 英语 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/20888]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Yijian Mao State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Mao Yijian,Jing Fengshui,Liang Zize,et al. Positional accuracy analysis of welding robot under mechanism clearance and elastic deformation[C]. 见:. Guilin, China. 2016-6. |
入库方式： OAI收割
来源：自动化研究所
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