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题名: Kinematics analysis and torch pose fitting for welding robot
作者: Qu RX(屈润鑫) ; Zou YY(邹媛媛) ; An XW(安晓卫) ; Zhu SJ(朱思俊)
作者部门: 装备制造技术研究室
会议名称: 4th International Conference on Machinery, Materials Science and Engineering Applications, MMSE 2014
会议日期: June 28-29, 2014
会议地点: Wuhan, Hubei, China
会议主办者: Hubei Mechanical Engineering Society; University of Huddersfield; University of Nottingham; University of Tesside; Wuhan University of Science and Technology
会议录: Advanced Materials Research
会议录出版者: Trans Tech Publications Ltd
会议录出版地: Zurich-Durnten, Switzerland
出版日期: 2014
页码: 153-158
收录类别: EI
ISSN号: 1022-6680
ISBN号: 9783038351139
关键词: Electric welding ; Industrial robots ; Machinery ; Materials science ; MATLAB ; Robot applications
摘要: 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.
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/173321/15036
Appears in Collections:装备制造技术研究室_会议论文

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Recommended Citation:
屈润鑫; 邹媛媛; 安晓卫; 朱思俊.Kinematics analysis and torch pose fitting for welding robot.见:Trans Tech Publications Ltd.Advanced Materials Research,Zurich-Durnten, Switzerland,2014,153-158
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