中文

Journal of Shanghai University >

2014 , Vol. 20 >Issue 4: 411 - 419

DOI: https://doi.org/10.3969/j.issn.1007-2861.2014.02.001

no

Kinematics and Trajectory-Planning of a Welding Robot

Expand
  • School of Mechanical Engineering, Guangxi University, Nanning 530004, China

Received date: 2014-03-04

  Online published: 2014-08-25

Fold

Abstract

The structure of a welding robot is designed to overcome the problem of low strength in traditional tandem welding robots caused by placing the motors on revolute joints. The forward and inverse kinematic problems are solved using the D-H method and the inverse transform method, respectively. The inverse solution of the points on the locus is obtained by polynomial-fitting with Matlab. Thus the input functions are described with a polynomial, providing a simple method to design the control system. The method in a mechanism simulation is verified by Pro/E.

Key words： inverse; kinematics; polynomial-fitting; trajectory-planning; welding robot

Cite this article

FAN Yu, CAI Gan-wei . Kinematics and Trajectory-Planning of a Welding Robot[J]. Journal of Shanghai University, 2014 , 20(4) : 411 -419 . DOI: 10.3969/j.issn.1007-2861.2014.02.001

References

[1] 林尚扬, 陈善本, 李成桐. 焊接机器人及其应用[M]. 北京: 机械工业出版社, 2000: 2-20.

[2] 蔡敢为, 范雨. 一种六自由度混联焊接机器人机构: 中国, 2013106751955 [P]. 2013-12-07.

[3] 樊炳辉. 多重四连杆型机器人(喷浆用)运动学分析[J]. 中国矿业, 1998(4): 61-65.

[4] 黄真. 高等空间机构学[M]. 北京: 高等教育出版社, 2005: 89-166.

[5] 蒋刚, 龚迪琛, 蔡勇, 等. 工业机器人[M]. 成都: 西南交通大学出版社, 2011: 17-47.

[6] 郝矿荣, 丁永生. 机器人几何代数模型与控制[M]. 北京: 科学出版社, 2011: 1-6.

[7] 刘极锋, 丁继斌. 机器人技术基础[M]. 北京: 高等教育出版社, 2012: 68-95.

[8] 宋伟刚. 机器人学—–运动学动力学与控制[M]. 北京: 科学出版社, 2007: 157-174.

[9] 李彦, 马之行. 五自由度工业机器人运动学求解[J]. 成都科技大学学报, 1988(1): 103-106.

[10] Paul R P. Robot manipulators, mathematics, programming and control [M]. Cambridge MA: The MIT Press, 1981.

[11] 黎健玲, 简金宝, 李群宏, 等. 数值分析与实验[M]. 北京: 科学出版社, 2012: 69-89.

[12] 二代龙震工作室. Pro/mechanism wildfire 3.0/4.0 机构/运动分析[M]. 北京: 电子工业出版社, 2008: 201-220.
Options
Outlines

/

〈 〉