Positional accuracy analysis of welding robot under mechanism clearance and elastic deformation
Mao Yijian; Jing Fengshui; Liang Zize; Fang Zaojun,
2016-12
会议名称Intelligent Control and Automation (WCICA)
页码3252-3258
会议日期2016-6
会议地点Guilin, China
摘要Aiming at the special environment of aluminum plant, a dual-arm robot composed of carrying arm, welding arm and sliding rail is developed. It is able to accomplish automatic welding a certain amount of steel sheets between the two ends of the cathode bus in aluminum electrolytic cells. Designed welding robot can be abstracted as a planar mechanism with three revolute joints. Position accuracy, one of the most significant performance evaluations of an industrial robot, is analyzed under joint clearance, drive backlash and elastic deformation. Normally joint clearances and drive backlash are identified as two contributors for positional errors in serial chain manipulator. In our model, elastic deformation is taken into consideration for higher precision. Deformation differs with different position, causing highly coupling degree and computation complexity. Experiments about the effects of the three influence factors are well conducted. Maximum errors influenced by clearance, backlash and deformation are estimated at all possible manipulator positions.
关键词Positional Accuracy Welding Robot Mechanism Clearance Elastic Deformation
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20888
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Yijian Mao State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Mao, Yijian,Jing Fengshui,Liang Zize,et al. Positional accuracy analysis of welding robot under mechanism clearance and elastic deformation[C]. Intelligent Control and Automation (WCICA). Guilin, China. 2016-6.
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