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Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation
Luo HT(骆海涛)1,2; Fu J(富佳)1; Jiao LC(矫利闯)1; Liu GM(刘广明)1; Yu CS(于长帅)1; Wu TK(武廷课)1
Department空间自动化技术研究室
Source PublicationADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8132
2019
Volume11Issue:7Pages:1-12
Indexed BySCI
WOS IDWOS:000476998400001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xingsong Innovation Fund'', Shenyang Institute of Automation (SIA)
KeywordFriction stir welding robot typical working conditions kinematics dynamics trajectory planning
AbstractThe mechanical configuration, structural composition, and five typical working conditions of a newly developed friction stir welding robot are introduced. The kinematics model of the friction stir welding robot is established and the forward kinematics equations, inverse kinematics equations, and the Jacobian matrix are solved. In addition, the dynamics model of the friction stir welding robot is also built by using the Lagrange method. The centroid position coordinate and inertia matrix of each part are obtained. Finally, the dynamic equation of friction stir welding robot is determined. According to the kinematics and dynamics model of robots, simulation analysis for friction stir welding robot based on virtual prototyping technology was carried out. The trajectory equation of the weld joint under the condition of melon petal welding is established, the spline trajectory is fitted by many discrete points measured by the contact probe, and the trajectory planning of each joint and the changing laws of motion parameters under the friction stir welding robot melon petal welding condition are obtained. The movement laws and the loading conditions of each joint can be better controlled by designers, and provide solid theoretical support for the static and dynamic characteristics analysis and structural optimization of the friction stir welding robot.
Language英语
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS Research AreaThermodynamics ; Engineering
Funding ProjectNational Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xingsong Innovation Fund'', Shenyang Institute of Automation (SIA)
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25334
Collection空间自动化技术研究室
Corresponding AuthorLuo HT(骆海涛)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, China
Recommended Citation
GB/T 7714
Luo HT,Fu J,Jiao LC,et al. Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation[J]. ADVANCES IN MECHANICAL ENGINEERING,2019,11(7):1-12.
APA Luo HT,Fu J,Jiao LC,Liu GM,Yu CS,&Wu TK.(2019).Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation.ADVANCES IN MECHANICAL ENGINEERING,11(7),1-12.
MLA Luo HT,et al."Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation".ADVANCES IN MECHANICAL ENGINEERING 11.7(2019):1-12.
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