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Kinematic Study on Motoman HP6 arc welding robot Based on Unigraphics

维普期刊数据库评论

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Transactions of Tianjin University 2011年第3期17卷 199-202页

作者：冯胜强胡绳荪申俊琦 Tianjin Key Laboratory of Advanced Joining Technology School of Material Science and Engineering Tianjin University Ningbo Branch of China Academy of Ordnance Science

The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, and the other end which is free fastens the end executor to complete various duties. Each link of this arc welding robot has four kinds of Denavit-Hartenberg parameters: common normal length between two adjacent links, angle of two adjacent joints, distance between the crossing of common normal length and two joints axes, and angle of two adjacent links. The displacement relation between each link of the Motoman HP6 arc welding robot is introduced, and the kinematic positive-going solution and the kinematic passive-going solution are calculated.

关键词： arc welding robot link Denavit-Hartenberg parameter kinematic positive-going solution kinematicpassive-going solution off-line programming

Study on motion simulation of arc welding robot based on UG

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China welding 2008年第2期17卷 54-57页

作者：冯胜强胡绳荪杜乃成申俊琦 School of Materials Science and Engineering Tianjin University

The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.

关键词： arc welding robot off-line programming Unigraphics motion simulation

An approach to measure the pose of RHJD4-1 arc welding robot for calibration

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China welding 2002年第1期11卷 5-8页

作者：宋月娥吴林田劲松戴明 National Key Laboratory of Advanced welding Production Technology Harbin Institute of Technology Harbin 150001

A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using this setup. The setup has been applied to RHJD4 1 arc welding robot. The experimental results show the method of pose measuring using the measurement setup is simple and reliable to finish pose measuring for robot calibration. In addition, the setup can measure the position repeatability of robot.

关键词： arc welding robot calibration position and orientation measurement repeatability

Structural Reliability Analysis of arc welding robot Forearm Based on ANSYS

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Structural Reliability Analysis of Arc Welding Robot Forearm...

Reliability analysis of kinematic accuracy of 6-DOF arc welding robot

2011 4th IEEE International Conference on Computer Science and Information Technology(ICCSIT 2011)

作者： Dianyong Yu Qian Li State Key Laboratory of robotics and System Harbin Institute of Technology

ISBN: (纸本)9781612848334

In order to study the reliability of arc welding robot which is used in the production and application,based on the theory of general structure design of robot,the article is dedicated to constructing the finite element model of robot forearm in ANSYS,using the probability analysis module of ANSYS（ANSYS/PDS）,taking geometry,material properties and pressure loads as random input variables and analyzing the structural reliability of arc welding robot forearm with Monte-Carlo *** maximum stress probability distribution of the finite element analysis model and sensitivity are obtained,which provide theory basis for the optimization design and system reliability analysis of the arc welding robot *** that,the results also show that the reliability of arc welding robots meets the requirements.

关键词： arc welding robot ANSYS/PDS Monte-Carlo method structural reliability

来源： cnki会议评论

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材料与冶金学报 2011年第2期10卷 146-149页

作者： ZHANG Xiao-jin XIE Li-yang LI Jia WU Ying ZHANG Yu School of Mechanical Engineering ＆ Automation Northeastern University Shenyang 110004 China

Although a few studies have analyzed repeatability, accuracy, errors and safety of robot, little attention has been paid to the stochastic approach with open-loop mechanisms, especially robot manipulators. Considering the random nature of dimensional tolerance and clearance in manufacturing and assembling operations, a stochastic approach to figure out reliabilitv of the robot should be required. In this paper, reliability is used to reflect the ability of 6-DOF arc welding robot in completing tasks safely and accurately. With the assumption that all kinematic parameters are independent random variables following normal distribution, the kinematic accuracy error model and reliability model are presented based on the Denavt-Hartenberg ( D-H) representation and error propagation theory.

关键词： arc welding robot kinematic accuracy reliability D-H representation error propagation theory

Structure and Control of an Inverter Type Power Source for robot arc welding

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Tsinghua Science and Technology 1998年第2期3卷 80-82页

作者：都东韩赞东肖平张前张人豪

An inverter type power source system for robot arc welding is considered. The power source includes several isolated gate bipolar transistor (IGBT) inverter power units. The output current of every individual power unit is regulated by an identical single chip microcomputer to enable the whole power source system to work over a wide range of continuous output current with good dynamic properties. This inverter type power source satisfies robotic welding requirements.

关键词： arc welding robot inverter power source unit assembly

A high-precision control system for robotic welding positioner

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China welding 2005年第1期14卷 53-57页

作者：石玗樊丁陈剑虹 State Key Laboratory of Gansu Advanced Non-ferrous Metal Materials Lanzhou University of Technology Lanzhou 730050

Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.

关键词： numerically controlled welding positioner intelligent tow-mode controller multi-task real-time control system arc welding robot