Kinematics Analysis and Torch Pose Fitting for Welding Robot

2014 ◽  
Vol 940 ◽  
pp. 153-158
Author(s):  
Run Xin Qu ◽  
Yuan Yuan Zou ◽  
Xiao Wei An ◽  
Si Jun Zhu
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Kinematics ◽  
Automatic Welding ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Welding Torch ◽  
Simulation Results ◽  
Large Work

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.

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.

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Song Gao ◽  
Jihong Chen ◽  
Shusheng Liu ◽  
Xiukun Yuan ◽  
Pengcheng Hu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Kinematic Analysis ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Rotary Axes ◽  
Machining Quality ◽  
New Type ◽  
Kinematic Performance ◽  
Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

scholarly journals Simulation of a parallel mechanical elbow with 3 DOF

2009 ◽  
Vol 7 (02) ◽  
Author(s):  
J. R. Mendoza-Vázquez ◽  
E. Tlelo-Cuautle ◽  
J.L. Vázquez-Gonzalez ◽  
A. Z. Escudero-Uribe
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Mechanical Support ◽  
Simulation And Modeling ◽  
Matlab Simulation ◽  
Geometric Methods ◽  
Kinematics Simulation ◽  
Linear Actuators ◽  
Simulation Results

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab‐simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams

2014 ◽  
Vol 644-650 ◽  
pp. 215-219 ◽  
Author(s):  
Lin Cai
Keyword(s):  
Mathematical Model ◽  
Machine Tool ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Machine ◽  
Inverse Solution ◽  
Robot Kinematics ◽  
Vector Method ◽  
Parallel Machine Tool ◽  
The Mathematical Model

In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.

Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator

2013 ◽  
Vol 313-314 ◽  
pp. 937-940 ◽  
Author(s):  
Yong Guo Zhao ◽  
Yong Fei Xiao ◽  
Tie Chen
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Forward Kinematics ◽  
Kinematics Analysis

In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

scholarly journals ALGORITHM FOR IMPROVING FEEDING RATES OF INDUSTRIAL WELDING ROBOT TA 1400 IN COMBINATION WITH A TURNTABLE FRAME

2020 ◽  
Vol 36 (3) ◽  
pp. 285-294
Author(s):  
Ngoc Anh Mai ◽  
Xuan Bien Duong
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robots ◽  
Kinematics And Dynamics ◽  
Simulation Environment ◽  
Welding Robot ◽  
Feeding Rates ◽  
Matlab Software ◽  
The Future ◽  
Simulation Results ◽  
6 Degrees Of Freedom

An algorithm for improving feeding rates of industrial welding robot TA 1400 of Panasonic with 6 degrees of freedom is presented. The kinematics and dynamics of the robot are calculated on MATLAB software. The proposed algorithm for improving feeding rates is mathematically analyzed and the performance of the system is evaluated in a simulation environment. The simulation results are used for proving the efficiency of the solution. Based on the achieved results, the algorithm can be applied for reducing time and improving the productivity of other industrial robots in the future

scholarly journals Inverse kinematics of mobile manipulators based on differential evolution

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141775273 ◽  
Author(s):  
Carlos López-Franco ◽  
Jesús Hernández-Barragán ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Michel López-Franco
Keyword(s):  
Differential Evolution ◽  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Mobile Manipulator ◽  
Robot Kinematics ◽  
Mobile Manipulators ◽  
Inverse Kinematic Problem ◽  
Simulation Results ◽  
Traditional Approaches

The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit–Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.

Kinematics Analysis of a 6-DOF Riveting Manipulator Based on ADAMS

2014 ◽  
Vol 887-888 ◽  
pp. 1257-1260
Author(s):  
En Liu ◽  
Kai Zeng ◽  
Sheng Wan Yuan ◽  
Gang Wei Cui ◽  
Xiao Cong He ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Simulation Analysis ◽  
Virtual Prototype ◽  
Design Parameters ◽  
Prototype Model ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Linkage Design ◽  
Simulation Results ◽  
Kinematics Parameters

In this paper, a 6-DOF riveting manipulators kinematics model was built by D-H method, and its kinematics problems were discussed. Each of the kinematics parameters was gotten by solving the direct and inverse kinematics functions in Matlab. Then the virtual prototype model of the riveting manipulator was built by ADAMS, and the position, velocity and acceleration in the end center of the riveting manipulator were gotten by the simulation analysis. The reasonability of each linkage design parameters and kinematics model could be verified by simulation results in ADAMS, a foundation could be laid for the further dynamics research.

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