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题名: Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition
作者: 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: 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2013
页码: 2043-2048
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/14759
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
宋屹峰; 王洪光; 高文斌; 骆海涛.Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition.见:IEEE.2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013,New York,2013,2043-2048
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