• 
    

    
    

      99热精品在线国产_美女午夜性视频免费_国产精品国产高清国产av_av欧美777_自拍偷自拍亚洲精品老妇_亚洲熟女精品中文字幕_www日本黄色视频网_国产精品野战在线观看 ?

      電弧傳感移動式球頭焊接機器人的運動學模型

      2017-04-18 15:27:01李文強陽云華李湘文洪波
      機械制造文摘·焊接分冊 2016年6期

      李文強 陽云華++李湘文++洪波

      摘要: 大型塔吊的球頭焊接主要是曲線焊縫,針對現(xiàn)有電弧傳感移動式球頭焊接機器人采用機構(gòu)簡化焊縫跟蹤方法控制難度大、跟蹤精度低等問題,提出一種焊縫切線法,該方法顯著提高了曲線焊縫跟蹤的精度。根據(jù)焊接機器人運動學和機構(gòu)學的特點分別建立這二種方法的焊炬運動軌跡的數(shù)學模型和Matlab/Simulink仿真模型,在統(tǒng)一的標準下,分析比較兩種方法的特點及適用條件。在此基礎(chǔ)上,對實際的旋轉(zhuǎn)電弧焊接機器人的焊炬運動進行優(yōu)化。經(jīng)過計算分析可得,在塔吊球頭自動化焊接中采用焊縫切線法更好。

      關(guān)鍵詞: 電弧傳感;移動式焊接機器人;建模仿真;Simulink

      中圖分類號: TG156

      Kinematics modeling of arc sensing mobile welding robot

      Li Wenqiang1, Yang Yunhua2 , Li Xiangwen1, Hong Bo1

      (1.Xiangtan University ,Hunan Provincial Key Laboratory of Welding Robots and Applications,Xiangtan411105 China;2. Zoomlion Heavy Industry Science and Technology Co.[KG-*2],Changsha 410013,China)

      Abstract: Ball welding of large tower crane is mainly curve welded joint. This paper presented weld tangent method for the use of simplified weld seam tracking method for welding robot, tracking accuracy problems of existing arc sensor for mobile robots. This method can significantly improve the accuracy of curved seam tracking. According to the welding robot kinematics and mechanical characteristic, respectively established these two methods of welding torch moving track of mathematical model and simulation of MATLAB/Simulink model. Under the unified standard, analyzing and comparing these two kinds of methods and application conditions. On this basis, optimizing practical rotating arc welding robot welding torch moving. Through calculation analysis, using welding seam tangent method in ball welding of tower crane is better.

      Key words: arc sensing; mobile welding robot; modeling simulation; Simulink

      巴彦县| 肇庆市| 汉源县| 汉阴县| 溧阳市| 日土县| 建平县| 巨鹿县| 滁州市| 平舆县| 共和县| 黄大仙区| 东乌珠穆沁旗| 沭阳县| 太仓市| 延边| 桃园市| 柏乡县| 怀远县| 石门县| 遵义市| 恩平市| 嵩明县| 武鸣县| 蕉岭县| 衡山县| 元阳县| 松滋市| 潢川县| 九江市| 巩义市| 吉木乃县| 万宁市| 永州市| 东阿县| 宜阳县| 大关县| 金寨县| 威信县| 图们市| 翁源县|