Structural Design And Dynamics Analysis For Filer Special-purpose Arc Welding Robot

The basic technical specifications are provided for for the design of the robot body structure according to welds robot's duty needs in this paper.The joint motors and gear models are choosed on the basis of the analysis of the robot's joint in the working conditions.The detailed design to various joints' structures are carried on, some key components are checked out,the typical joint's assembly drawing are given, the virtual design of robot are carried on with three-dimensional modeling software Pro/E to get virtual prototyping robot.Secondly,the robot kinematics foundation is introduced,robot kinematics model is established with the D-H method,the link parameters are determined,the robot kinematics equation is built,the robot's terminal pose matrix is obtained,the Monte- Carlo method is used to program in MATLAB in solveing robot's working space to definite robot's operating region.Thirdly, the weld sensors have been classified by the working principle, laser scanning is selected as the seam tracking sensor type by comparing their respective advantages and disadvantages, the sensor is designed based on the principle of triangulation of image, the processes of image processing and welding seam feature point extraction are analysised, the relevant hardware is selected, and a simple fuzzy control system is designed.Fourthly, the robot's organization diagram and the kinematics equation are unified, the Jacobian matrix of the robot is derived by differential transform method, the main factors of the dynamic equations are solved: the inertia matrix,the weight item coefficient, the centripetal force coefficient and the coriolf's force coefficient.All of these are used in the dynamic equations to derive the dynamic equation of robot's joints. The software Pro/E is used to make the modal analysis of the base, turntable and arm to obtain the inherent characteristics and the first six vibration modes of the various components for the basis for the analysis of flexible robots.Fifthly, robot path planning is made in Cartesian space for.The dynamic simu- lation software ADAMS is used to carry on the simulation of six degree-of-freedom robot's kinematics and dynamics,the terminal pose curve,the velocity curve,the joint angular displacement curve,the angular speed curve,the kinetic energy rods,joint reaction force support and torque curves, time-frequency curve,the reliability of the curveof robot are obtained in order to improve design performance,reduce design costs and product development time purposes,and lay the foundation for the further research of robot.