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�������պ����ѧѧ�� 2008, Vol. 34 Issue (8) :964-968    DOI:
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Kinematic analysis and simulation of saddle-back coping welding robot
Li Xiaohui, Wang Su*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Aiming at the special request of complicated intersection line robot welding, a kind of saddle-back coping welding robot was presented, which has five axes. The robot mechanistic structure was reduced essentially and rationally. The five-axis robot D-H (Denavit-Hartenberg) links- coordinates were established with the reduced robot mechanistic structure. Then the forward solution and the inverse kinematics equations were built according to D-H links- coordinates. The singular solution of inverse kinematics equations was educed associated with the kinematic parameters change range. Programming in the Matlab software according to the forward solution and inverse kinematics equations, the five-axis robot kinematic analysis was simulated. The simulative calculations results indicate that forward solution and inverse kinematics equations are completely accurate. And the simulation accuracy shows that the solution of inverse kinematics equations satisfies the welding project well. It is very important to welding robot and can provide a theoretical basis and supports algorithm for trajectory regulation and off-line programming.
Keywords�� intersection line   welding robot   kinematic simulation     
Received 2007-07-18;
About author: ������(1978��),��,�ӱ�������,��ʿ��,lixiaohui@me.buaa.edu.cn.
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Li Xiaohui, Wang Su.Kinematic analysis and simulation of saddle-back coping welding robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(8): 964-968
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