Affiliation:
1. China Three Gorges University
Abstract
Various uncertain factors affect the movement of the welding robot, thus welding gun tend to deviate from the theory of welding position which reduces the welding accuracy, of which the revolute pair clearance have an greater effect on the movement of the welding robot. In order to study the influence of revolute pair clearance to the end pose accuracy of welding robot, the mathematical model of revolute pair clearance was established, and the software SolidWorks was used for establishing the welding robot model, making simulations of the mechanical arm with joint clearance and no joint clearance. At last, the movement characteristic of the hinge shaft is attained. The simulation results showed that the shaft velocity and displacement of mechanical arm with joint clearance has a certain degree of fluctuation, which affecting the end pose accuracy of welding robot , and reducing the movement stability and the welding accuracy of welding robot.
Publisher
Trans Tech Publications, Ltd.
Reference11 articles.
1. Xing Han, Chang Li, Xiaoguang Yu, Guangbin Zhao. Motion simulation of open-arc welding robot based on ADAMS/View[J]. Transactions of the China Welding Institution. 2013(04). (in Chinese).
2. Jiazhen Hong, Lizhong Jiang. Flexible Multibody Dynamics with Coupled Rigid and Deformation Motions[J]. Advances in Mechanics, 2000, 30(1): 15-20. (in Chinese).
3. Bing Shi, Ye Jin. Dynamic Simulation and Modeling of Revolute Clearance Joint for Virtual Prototyping [J]. Journal of Mechanical Engineering, 2009, 45(4): 299-303. (in Chinese).
4. FLORES P, AMBROSIO J. Revolute joints with clearance in multibody systems[J]. Computers & Structures, 2004, 82: 1359-1369.
5. Zhengfeng Bai. Research on dynamic characterisitcs of mechanism with joint clearance [D]. Harbin: Harbin Institute Harbin Institute of Technology, 2011 (in Chinese).