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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)
Department空间自动化技术研究室
Conference Name2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Conference DateDecember 12-14, 2013
Conference PlaceShenzhen, China
Source Publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
PublisherIEEE
Publication PlaceNew York
2013
Pages2043-2048
Indexed ByEI ; CPCI(ISTP)
EI Accession number20141717633014
WOS IDWOS:000352739000339
Contribution Rank1
ISBN978-1-4799-2744-9
KeywordBiomimetics Deformation Industrial Robots Robot Applications Robotics Spot Welding
AbstractAs 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/14759
Collection空间自动化技术研究室
Corresponding AuthorSong YF(宋屹峰)
Affiliation1.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
Recommended Citation
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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