| 摘要: |
| 明弧焊接机器人是冶金行业广泛应用的一种焊接设备,其中各部分的传动精度会对焊接枪头的行走精度产生累积误差,影响焊接质量,因此如何有效控制其传动精度和制造安装误差成为提高设计质量的关键.基于ADAMS/View虚拟平台,搭建了明弧焊接机器人虚拟试验样机,对其进行运动仿真分析,获取机器人焊接过程中运动特性.结果表明,该方法为提高机器人运动精度和设计质量提供了有效途径,且不必建立复杂的机器人运动学数学模型,避免了对模型求解的繁琐过程,有效提高了设计效率和精度. |
| 关键词: 明弧焊接机器人 ADAMS/View 虚拟试验样机 运动学仿真 |
| DOI： |
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| 基金项目:国家自然科学基金青年科学基金项目(E050402/51105187);辽宁省博士启动基金项目(20111059);辽宁科技大学专项基金(2011zx03);辽宁省高等学校优秀人才支持计划资助项目(013202) |
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| Motion simulation of open-arc welding robot based on ADAMS/View |
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HAN Xing, LI Chang, YU Xiaoguang, ZHAO Guangbing
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School of Mechanical Engineering & Automation, University of Science and Technology Liaoning, Anshan 114051, China
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| Abstract: |
| Open arc welding robot has been widely used in metallurgical industry,and the transmission accuracy of each component inevitably causes cumulative errors on running accuracy of the welding gun head and influences the welding quality.Therefore,how to improve the driven accuracy and control manufacture errors are key problems in welding robot design.In this paper,a virtual model of open-arc robot was built based on ADAMS/View,and after motion simulation, the robot dynamic characters were obtained in welding process.The results show that this new method was simple and highly accurate,without needing to establish complicated mathematic model,largely improves the design efficiency. |
| Key words: arc welding robot simulation ADAMS/View |
