scholarly journals Study on Six Degrees of Freedom Arc Welding Robot Trajectory Based on SolidWorks

2016 ◽  
Author(s):  
Zhanqi Liu ◽  
Wenming Zhang
Keyword(s):  
Arc Welding ◽  
Degrees Of Freedom ◽  
Welding Robot ◽  
Six Degrees Of Freedom ◽  
Robot Trajectory

Trajectory Planning Research of the Filter Shell Special Arc Welding Robot

2013 ◽  
Vol 706-708 ◽  
pp. 1103-1107
Author(s):  
Ling Wang ◽  
Xin Qing Fan ◽  
Fu Yan Qi ◽  
Wan Hua Wei
Keyword(s):  
Coordinate System ◽  
Detailed Analysis ◽  
Trajectory Planning ◽  
Arc Welding ◽  
Degrees Of Freedom ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Connecting Rod ◽  
Six Degrees Of Freedom ◽  
Simulation Results

The detailed analysis of the structure and paramerers of the connecting rod is put forward by using the improving D-H method to establish the link coordinate system and the kinematics equation, based on the special filer shell arc welding robot with six degrees of freedom designed. Therefor, the correctness of the kinematics equation is verified though the simulation of Matlab function with the robotics toolbox. The anasysis simulation results show that the rationality of the robot structure that based on the kinematics analysis, is feasible.

Study on Welding Path Planning of Welding Position Flock for Welding Robot Based on Improved Genetic Algorithm

2014 ◽  
Vol 602-605 ◽  
pp. 1332-1335
Author(s):  
Hong Wei Lv
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Mathematic Model ◽  
Welding Robot ◽  
Improved Genetic Algorithm ◽  
Complete Coverage ◽  
Six Degrees Of Freedom ◽  
Filial Generation ◽  
Full Rotation ◽  
Welding Position

With full rotation articulated ABB-IBR140-M2000 robot with six degrees of freedom used as welding robot, the exploring of efficient complete coverage of welding position flock is an important way of improving the performance of welding robot. Making use of improved genetic algorithm, in which the best father generation is saved and using ordered cross and reverse ordered mutation to constitute filial generation, and this method makes sure that the algorithms is convergent. The complete coverage of welding position optimization mathematic model whose objective is the minimum distance is established, making use of the improved genetic algorithm to solve the problem, an example is analyzed in detail, and the result shows that the algorithms is convergent and efficient.

KINEMATIC INVERSION OF FUNCTIONALLY-REDUNDANT SERIAL MANIPULATORS: APPLICATION TO ARC-WELDING

2005 ◽  
Vol 29 (4) ◽  
pp. 679-690 ◽  
Author(s):  
Liguo Huo ◽  
Luc Baron
Keyword(s):  
Arc Welding ◽  
Degrees Of Freedom ◽  
Null Space ◽  
Computationally Efficient ◽  
Secondary Tasks ◽  
Serial Manipulators ◽  
Six Degrees Of Freedom ◽  
Kinematic Inversion ◽  
Resolution Scheme ◽  
Robotic Tasks

This paper introduces the concept of functional redundancy of serial manipulators, and presents a new resolution scheme to solve such redundant robotic tasks requiring less than six degrees-of-freedom. Instead of projecting the secondary task onto the null space of the Jacobian matrix in order to take advantage of the redundancy, the twist of end-effector is directly decomposes into two orthogonal subspaces where the main and secondary tasks lie, respectively. The algorithm has shown to be computationally efficient and well suited to solve functionally-redundant robotic tasks, such as arc-welding.

scholarly journals Development of robotic polishing/fettling system on ceramic pots

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Zhangguo Yu ◽  
Hsien-I Lin
Keyword(s):  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Force Sensor ◽  
Ball Screw ◽  
Force Response ◽  
Geometric Models ◽  
Six Degrees Of Freedom ◽  
Robot Trajectory ◽  
Polishing Force ◽  
Aided Design

Current robot polishing techniques are available for objects with computer-aided design geometric models but not for objects without geometric models such as ceramic or clay pots. In this study, we developed a robotic polishing/fettling system to polish the molding defects of ceramic objects. The polishing force on the object surfaces is required to be constant to obtain better results. Thus, the proposed robotic polishing system was designed with a stepper motor, ball screw, and force sensor. The proposed system acquired a rough robot polishing/fettling trajectory and adopted a fuzzy proportional–integral–derivative controller to regulate the trajectory to maintain the desired contact force response from a ceramic object. We developed the temporary desired value technique to make the polishing force response close to the desired one. We validated the system on a six-degrees-of-freedom Staubli TX 40L robotic arm. Experiments were performed to test the effectiveness of the system. The robot trajectory responses showed that the proposed system performed well in tracking the desired force in the polishing/fettling process. We used a 3D microscope to verify that the molding defect of the ceramic pot was significantly removed to evaluate the polishing/fettling quality.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

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