Kinematics analysis and torch pose fitting for welding robot
文献类型：会议论文
| 作者 | Qu RX(屈润鑫) ; Zou YY(邹媛媛); An XW(安晓卫); Zhu SJ(朱思俊)
|
| 出版日期 | 2014 |
| 会议名称 | 4th International Conference on Machinery, Materials Science and Engineering Applications, MMSE 2014 |
| 会议日期 | June 28-29, 2014 |
| 会议地点 | Wuhan, Hubei, China |
| 关键词 | Electric welding Industrial robots Machinery Materials science MATLAB Robot applications |
| 页码 | 153-158 |
| 中文摘要 | Giant structure processes involve highly dangerous manual welding operations. aiming at the welding for giant structures, tankers and other large work pieces, a five degrees of freedom (DOF) gantry type automatic welding robot was developed which has our own property right. Forward/inverse kinematics for the mechanical structure is analyzed in which pose of the welding torch is defined as a free vector. Then kinematics equations were proposed for torch pose fitting. Finally, simulation results for robot kinematics analysis and torch pose fitting were also proposed with Matlab. The result not only proves the feasibility of torch pose fitting, but also provides a basis for further study on kinematic analysis, torch pose fitting and off-line programming about gantry type automatic welding robot. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | Hubei Mechanical Engineering Society; University of Huddersfield; University of Nottingham; University of Tesside; Wuhan University of Science and Technology |
| 会议录 | Advanced Materials Research
 |
| 会议录出版者 | Trans Tech Publications Ltd |
| 会议录出版地 | Zurich-Durnten, Switzerland |
| 语种 | 英语 |
| ISSN号 | 1022-6680 |
| ISBN号 | 978-3-03835-113-9 |
| 源URL | [http://ir.sia.cn/handle/173321/15036]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | Qu RX,Zou YY,An XW,et al. Kinematics analysis and torch pose fitting for welding robot[C]. 见:4th International Conference on Machinery, Materials Science and Engineering Applications, MMSE 2014. Wuhan, Hubei, China. June 28-29, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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