Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition
文献类型：会议论文
| 作者 | Song YF(宋屹峰) ; Wang HG(王洪光); Gao WB(高文斌); Luo HT(骆海涛)
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| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 |
| 会议日期 | December 12-14, 2013 |
| 会议地点 | Shenzhen, China |
| 关键词 | Biomimetics Deformation Industrial robots Robot applications Robotics Spot welding |
| 页码 | 2043-2048 |
| 通讯作者 | 宋屹峰 |
| 中文摘要 | As an important type of industrial manipulator, spot welding robots are usually needed to work under high speed and heavy load working condition. The working condition can cause a dynamic deformation of the robot, which cannot be fast and accurately calculated currently. The dynamic deformation leads to poor performance of the robot, e.g. the end effector trajectory deflection and vibration. In this paper, we present a method for the robot dynamic deformation calculation, which can be practically applied to spot welding robots. The method is mainly implemented in three steps: 1. Based on the robot working condition, we first calculate the kinestate of each link in base frame, i.e. angular velocity and acceleration, linear velocity and acceleration. And we thus can obtain the inertia forces and torques of each link. 2. We build a finite element analysis (FEA) modeling by confirming the robot configuration, defining material property, setting constraints and meshing. 3. Orderly, we apply each inertia fore, inertia torque, robot gravity and load on the FEA modeling and calculate the responding dynamic deformation. The total deformation can be obtained by sum of all deformations, and we can also get the stress and strain condition in the same way. The proposed method provides a basis for robot dynamic deformation calculation and its effectiveness has been demonstrated by experiments. © 2013 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-2744-9 |
| WOS记录号 | WOS:000352739000339 |
| 源URL | [http://ir.sia.cn/handle/173321/14759]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Song YF,Wang HG,Gao WB,et al. Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Shenzhen, China. December 12-14, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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