Cen Haitang, Chen Wuyi, Yu Maolin, et al. Structural bionics for reinforcing frame of fuselage and wing joint[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(01): 13-16. (in Chinese)
Citation: Li Xiaohui, Wang Su. Kinematic analysis and simulation of saddle-back coping welding robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(8): 964-968. (in Chinese)

Kinematic analysis and simulation of saddle-back coping welding robot

  • Received Date: 18 Jul 2007
  • Publish Date: 31 Aug 2008
  • 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.

     

  • [1] 姚杰.机器人在焊接相贯线时的无碰撞轨迹规划[J].机械工程与自动化,2006, 27:73-74 Yao Jie. Collision-free trajectory planning in 3-D space for welding robot[J]. Mechanical Engineering & Automation, 2006,27:73-74(in Chinese)  [2] 霍孟友,岳少剑,王新港.复杂相贯线接缝自动焊接的运动控制算法[J]. 焊接学报,2006, 27(12):9-12 Huo Mengyou, Yue Shaojian, Wang Xingang. Movement control algorithm of automatic welding for complex intersection seam[J]. Transactions of the China Welding Institution,2006,27(12):9-12(in Chinese)  [3] 陈强,路井荣,孙振国,等.弧焊机器人焊炬姿态规划系统的研究[J].中国机械工程,2002,13(11):956-958 Chen Qiang, Lu Jingrong, Sun Zhenguo, et al. Study on torch pose planning system for arc welding robot[J]. China Mechanical Engineering, 2002,13(11):956-958(in Chinese)  [4] 陈志翔,卢振洋,殷树言,等.焊缝位姿及焊枪位姿的模型[J].机械工程学报,2003,39(7):59-62 Chen Zhixiang, Lu Zhenyang, Yin Shuyan, et al. Models of weld pose and welding gun pose[J]. Chinese Journal of Mechanical Engineering, 2003,39(7):59-62(in Chinese)  [5] Maekawa Hitoshi, Yamamoto Katsushi, Nakata Shuji. Torch trajectory generation along weld line in off-line programming system of arc welding robot[J]. Yosetsu Gakkai Ronbunshu/Quarterly Journal of the Japan Welding Society, 1989, 7: 102-109  [6] Ventzas D E. Computer control software for pipe line construction industry[J]. Modelling, Measurement & Control B, 1994, 53:1-11  [7] Li W, Jaschek H, Wloka D. Modification of the roberts- algorithm for the graphical animation of robots[J]. Robotersysteme, 1990, 6:76-80  [8] Zhang Hua. Study of pedrailed intelligent arc welding robot system[J]. Robot Technique and Application, 2002(1):13-16  [9] Jiang Lipei. Flexible magnetic wheel type intelligent welding robot for spherical tank[J]. Chinese Journal of Mechanical Engineering, 2002(2):173-176  [10] 吴林,孔宇.焊接位置与焊丝方位定义的讨论及几何建模研究[J]. 机械工程学报,1997,33(5):49-53 Wu Lin, Kong Yu. Definition and geometric model of welding position and torch orientation[J]. Chinese Journal of Mechanical Engineering,1997,33(5):49-53(in Chinese)
  • Relative Articles

    [1]CUI Zhen, ZHAO Zhigang, SU Cheng, MENG Jiadong, ZHAO Xiangtang, CHAI Wei. Dynamics and Dynamic Stability Analysis of Rope Traction Upper Limb Rehabilitation Robot[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0827
    [2]ZHU X Q,WANG T,RUAN X G,et al. Gait learning method of quadruped robot based on policy distillation[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):428-439 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0069.
    [3]LU X,SUN Y N,TANG J,et al. Kinematic characteristics analysis of vehicle-aircraft towing taxi system considering wheel deformation[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):478-486 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0029.
    [4]JIN B,LI S Y,LIU N N,et al. Kinematic absolute and relative orbit determination of Swarm satellites with heterogeneous orbits[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):409-418 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0039.
    [5]ZHANG C Y,WANG G,CHE H L,et al. Motion analysis and gait planning of a novel revolving wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(5):1675-1684 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0491.
    [6]HE T Y,DONG Y,TAN L M,et al. Kinematic analysis and continuous gait planning of lunar-based equipment in walking state[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(1):308-316 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0232.
    [8]LIU Z Y,ZHANG G,LIU H R,et al. Software robot-based application behavior simulation for cyber security range in industrial control field[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(7):2237-2244 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0597.
    [9]WANG X Q,LAI F L,ZHAO C L. Reconfiguration control and motion simulation of tilt-rotor aircraft with multilinks[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(5):1523-1531 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0522.
    [10]GAO T F,KONG L G,SU B,et al. Design and simulation of detector for outer heliosphere pickup ions[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(2):367-377 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0243.
    [11]WANG C Y,YANG L M,LI Y H. A mapping leader formation control strategy for multiple mobile robots based on two-stage sliding mode control[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(11):3108-3114 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0792.
    [12]DUAN A N,ZHOU R,DI B. Multi-robot cooperative coverage of key regions considering prior information[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1479-1486 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0435.
    [13]WANG Z D,GUANG C H,WANG L Q,et al. Design and implementation of robot-assisted subretinal injection system[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(9):2406-2414 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0667.
    [14]XIA Xin-hui, JIA Ying-hong, ZHANG Jun. Spherical-caging-based control of a dual-arm space robot for capturing an object[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0258
    [15]LI Wen, CAI Yongqing, CHEN Mengfan, LIU Peng. Optical path simulation and design of NO rapid detection optical cavity structure[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(11): 2146-2152. doi: 10.13700/j.bh.1001-5965.2021.0105
    [16]PENG Cheng, SUN Liguo, WANG Yanyang, TAN Wenqian, XIAO Feng. Control oriented longitudinal modeling and analysis of pigeon-like flapping-wing aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(12): 2510-2519. doi: 10.13700/j.bh.1001-5965.2021.0130
    [17]CHI Shengkai, XIE Yongfang, CHEN Xiaofang, PENG Fan. Obstacle avoidance method of mobile robot based on obstacle cost potential field[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(11): 2289-2303. doi: 10.13700/j.bh.1001-5965.2021.0095
    [18]YANG Shang-hang, XU Guo-ning, JIA Zhong-zhen, LI Yong-xiang, ZHUANG Chun-yu, YANG Yan-chu. Research on wireless charging coil location method of aircraft based on machine learning[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023-0006
    [19]YANG Chao, JIANG Yu, WU Zhigang. Numerical simulation of skipping motion of three-dimensional structure based on boundary element method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(9): 1678-1691. doi: 10.13700/j.bh.1001-5965.2022.0141
    [20]ZHANG Libo, LI Yupeng, ZHU Deming, FU Yongling. Inverse kinematic solution of nursing robot based on genetic algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10): 1925-1932. doi: 10.13700/j.bh.1001-5965.2021.0042
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3761) PDF downloads(1823) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return