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Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition
Song YF(宋屹峰); Wang HG(王洪光); Gao WB(高文斌); Luo HT(骆海涛)
作者部门空间自动化技术研究室
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
会议录名称2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
出版者IEEE
出版地New York
2013
页码2043-2048
收录类别EI ; CPCI(ISTP)
EI收录号20141717633014
WOS记录号WOS:000352739000339
产权排序1
ISBN号978-1-4799-2744-9
关键词Biomimetics Deformation Industrial Robots Robot Applications Robotics Spot Welding
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/14759
专题空间自动化技术研究室
通讯作者Song YF(宋屹峰)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of University of Chinese Academy of Sciences, Beijing 100039, China
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]. New York:IEEE,2013:2043-2048.
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