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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)
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
会议录名称2015 IEEE International Conference on Information and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1992-1996
收录类别EI ; CPCI(ISTP)
EI收录号20161102093154
WOS记录号WOS:000380562200367
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17516
专题空间自动化技术研究室
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
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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