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题名: Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot
作者: Luo HT(骆海涛); Wang TJ(王铁军); Fu, Jia; Chen ZC(陈正仓); Leng YQ(冷雨泉)
作者部门: 空间自动化技术研究室
会议名称: 2015 IEEE International Conference on Information and Automation
会议日期: Augest 8-10, 2015
会议地点: Lijiang, China
会议录: 2015 IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1992-1996
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-9104-7
关键词: FSW robot ; Typical working-conditions ; Kinematics ; Welding simulation
摘要: In 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.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380562200367
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17516
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Luo HT,Wang TJ,Fu, Jia,et al. Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot[C]. 见:2015 IEEE International Conference on Information and Automation. Lijiang, China. Augest 8-10, 2015.
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文件名: Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot.pdf
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