TY - GEN
T1 - Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot
AU - Luo, Haitao
AU - Wang, Tiejun
AU - Fu, Jia
AU - Chen, Zhengcang
AU - Leng, Yuquan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - In this paper, combining with the engineering reality needs, we developed a new type of friction stir welding robot welding system. Through the configuration analysis, introduces the structural components and functional roles of each part of the FSW robot, as well as the commonly used five kinds of typical working-conditions. Using D-H parameters method, establishment the forward kinematics equation of FSW robot and verify its rightness. With Piper criterion method, solve the inverse solution of FSW robot's kinematics equation. Finally, take melon petals welding condition for example, carry out trajectory planning for a given size rockets head weld and conduct welding simulation analysis. We have got different parameters' change curves relative to time on FSW robot's joint space and verified the correctness of its mechanism design and kinematics model.
AB - In this paper, combining with the engineering reality needs, we developed a new type of friction stir welding robot welding system. Through the configuration analysis, introduces the structural components and functional roles of each part of the FSW robot, as well as the commonly used five kinds of typical working-conditions. Using D-H parameters method, establishment the forward kinematics equation of FSW robot and verify its rightness. With Piper criterion method, solve the inverse solution of FSW robot's kinematics equation. Finally, take melon petals welding condition for example, carry out trajectory planning for a given size rockets head weld and conduct welding simulation analysis. We have got different parameters' change curves relative to time on FSW robot's joint space and verified the correctness of its mechanism design and kinematics model.
KW - FSW robot
KW - Kinematics
KW - Typical working-conditions
KW - Welding simulation
UR - https://www.scopus.com/pages/publications/84959908199
U2 - 10.1109/ICInfA.2015.7279615
DO - 10.1109/ICInfA.2015.7279615
M3 - 会议稿件
AN - SCOPUS:84959908199
T3 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
SP - 1992
EP - 1996
BT - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Y2 - 8 August 2015 through 10 August 2015
ER -