Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation
文献类型：期刊论文
| 作者 | Yu CS(于长帅)2 ; Wu TK(武廷课)2; Fu J(富佳)2; Jiao LC(矫利闯)2; Luo HT(骆海涛)1,2; Liu GM(刘广明)2
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| 刊名 | ADVANCES IN MECHANICAL ENGINEERING
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| 出版日期 | 2019 |
| 卷号 | 11期号:7页码:1-12 |
| 关键词 | Friction stir welding robot typical working conditions kinematics dynamics trajectory planning |
| ISSN号 | 1687-8132 |
| 产权排序 | 1 |
| 英文摘要 | The mechanical configuration, structural composition, and five typical working conditions of a newly developed friction stir welding robot are introduced. The kinematics model of the friction stir welding robot is established and the forward kinematics equations, inverse kinematics equations, and the Jacobian matrix are solved. In addition, the dynamics model of the friction stir welding robot is also built by using the Lagrange method. The centroid position coordinate and inertia matrix of each part are obtained. Finally, the dynamic equation of friction stir welding robot is determined. According to the kinematics and dynamics model of robots, simulation analysis for friction stir welding robot based on virtual prototyping technology was carried out. The trajectory equation of the weld joint under the condition of melon petal welding is established, the spline trajectory is fitted by many discrete points measured by the contact probe, and the trajectory planning of each joint and the changing laws of motion parameters under the friction stir welding robot melon petal welding condition are obtained. The movement laws and the loading conditions of each joint can be better controlled by designers, and provide solid theoretical support for the static and dynamic characteristics analysis and structural optimization of the friction stir welding robot. |
| 资助项目 | National Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xingsong Innovation Fund'', Shenyang Institute of Automation (SIA) |
| WOS研究方向 | Thermodynamics ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000476998400001 |
| 资助机构 | National Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xingsong Innovation Fund'', Shenyang Institute of Automation (SIA) |
| 源URL | [http://ir.sia.cn/handle/173321/25334]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Luo HT(骆海涛) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China |
| 推荐引用方式 GB/T 7714 | Yu CS,Wu TK,Fu J,et al. Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation[J]. ADVANCES IN MECHANICAL ENGINEERING,2019,11(7):1-12. |
| APA | Yu CS,Wu TK,Fu J,Jiao LC,Luo HT,&Liu GM.(2019).Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation.ADVANCES IN MECHANICAL ENGINEERING,11(7),1-12. |
| MLA | Yu CS,et al."Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation".ADVANCES IN MECHANICAL ENGINEERING 11.7(2019):1-12. |
入库方式： OAI收割
来源：沈阳自动化研究所
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