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Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot
Luo HT(骆海涛); Wang TJ(王铁军); Fu J(富佳); Chen ZC(陈正仓); Leng YQ(冷雨泉)
Department空间自动化技术研究室
Conference Name2015 IEEE International Conference on Information and Automation
Conference DateAugest 8-10, 2015
Conference PlaceLijiang, China
Source Publication2015 IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1992-1996
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161102093154
WOS IDWOS:000380562200367
Contribution Rank1
ISBN978-1-4673-9104-7
KeywordFsw Robot Typical Working-conditions Kinematics Welding Simulation
AbstractIn this paper, combining with the engineering reality needs, we developed a new type of friction stir welding robot welding system. Through the configuration analysis, introduces the structural components and functional roles of each part of the FSW robot, as well as the commonly used five kinds of typical working-conditions. Using D-H parameters method, establishment the forward kinematics equation of FSW robot and verify its rightness. With Piper criterion method, solve the inverse solution of FSW robot's kinematics equation. Finally, take melon petals welding condition for example, carry out trajectory planning for a given size rockets head weld and conduct welding simulation analysis. We have got different parameters' change curves relative to time on FSW robot's joint space and verified the correctness of its mechanism design and kinematics model.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17516
Collection空间自动化技术研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
Recommended Citation
GB/T 7714
Luo HT,Wang TJ,Fu J,et al. Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot[C]. Piscataway, NJ, USA:IEEE,2015:1992-1996.
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