Solving the Kinematics of Welding Robot Based on ADAMS
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1 Itertl Jurl f Reserch Egeerg d cece IJRE IN Ole: -9 IN Prt: -9 Vlume Issue ǁ Jue ǁ PP.-7 lvg the Kemtcs f Weldg Rbt Bsed DM Fegle u Yg Xu llege f Mechcl Egeerg hgh Uverst f Egeerg cece h llege f Mechcl Egeerg hgh Uverst f Egeerg cece h bstrct: slve the rblem f gle culg f the weldg rbt kemtcs equts we buld the D mdel f the weldg rbt lus kemtcs equts v usg methd f D-H d tkg PUM rbt s the stud trget d usg DM sftwre s the smultg tl thrugh ths we cheve the dslcemet curve lg d s. Becuse f the smlr f the result f smultg d e f the stve kemtcs equts ths er verfes the crrectess f ts D mdel. Bsed ths ths er uses the ltc methd t deduce the weldg rbt verse kemtcs equt. hs er l use the dervt methd t slve the rblem f the culg betwee gles d deduce the frmuls f ech gle. d ths methd culd be the bss f the weldg rbt trjectr lg. Kewrds: weldg rbt; kemtcs; ltc slut; DM I. Itrduct Reserchg the verse kemtcs f the weldg rbt s ver mrtt tc the kemtcs d the trjectr lg. It s ver dffcult t buld the geerl lgrthm becuse the verse kemtcs f rbt s becmg mre d mre dffcult lg the cresg f the rbt srts jts. I reset ers t slve the verse kemtcs equt we ut frwrd the ltc methd frwrd ltc methd tertve methd gemetrc methd eurl etwrk ther d s. Uder these methds Pul d Wg Qh ut frwrd the ltc methd but the rblem s tht sme reverse swers the ut frwrd re t the crrect swers. Besdes ths Lu sg gu Wg hgb d he Ng ut frwrd the methds f tertve methd d ew ltc methd but these ct crrectl clculte the gle v etrctg eugh elemets. t slve the gle culg rblem d t cveetl slve the se d cse f ech gle ths er lss the verse kemtcs swer med t the PUM weldg rbt usg the sgle r serl mtr left multl the mtr s the rght f the equt wuld t clude ths gle s tht we culd fd the elemets tht rduce the vlue f the se d cse. Uder ths we culd cheve the crrect gle d fsh the rblem f slvg the verse kemtcs equt. II. he Pstve Kemtcs Mdel f Rbt he lss f kemtcs f weldg rbt s the bss f the reserch f the trjectr lg cludg the rblem f stve kemtcs d verse kemtcs. d the mdel f the stve kemtcs s the ke f buldg verse kemtcs. ths er frstl buld the stve mdel f the weldg rbt usg PUM rbt s the reserch bject. ecdl ths er use DM sftwre d the smult. Lstl cmrg the tw results we vldted the stve kemtcs tht bult s crrect d whch s bss f the ltc f verse kemtcs f the weldg rbt.. he lss f Pstve Kemtcs Pge
2 lvg the Kemtcs f Weldg Rbt Bsed DM Pge hs er shw the reltves f the cect f the tw rd crdte sstems v usg the methd f D-H. d the sce reltsh f the tw djcet lks s cect lk trsfrmt mtr. Buldg the hmgeeus trsfrmt mtr s fllw: d mg the mtr =cs =s α - s the dstce betwee - d mesurg lg -; s the sme - s the rtt gle; d s the dstce lg ; θ s the rtt gle rud ; re the crdte sstem f jt. ccrdg t the mtr bve we cheve the fllwg stve kemtcs equt: I ths equt re the crdte sstems shulder crdte reltve t bse reltve the bg rm crdte reltve t shulder crdte the smll rm crdte reltve t the bg crdte d wrst crdte reltve t the smll rm wrst reltve t wrst d wrst crdte reltve t wrst crdte. Besdes s the tttude mtr s the lct mtr; rereset cs ; rereset s.. he lcult f Pstve Kemtcs f Weldg Rbt hs weldg rbt s csst f bd shulder bg rm smll rm wrst hd d s detls culd see fg. It hs s freedm f jt d the s jts ll re rtt jts s t s jt stle rbt. he frst jts fluece the lct f the ed erfrmer; d the lter jts decde the sture f the ed. he crdte jts c be see fg. ccrdg t the methd f D-H we c cheve the rmeters f ech jt whch culd be see tble. Fg the D mdel f rbt Fg the crdte f rbt
3 lvg the Kemtcs f Weldg Rbt Bsed DM Pge ble the rmeters f the rbt jts Jt α/ -/mm Θ/ D/mm Vrble rge ~7. -~ ~ ~8-9 -~ -~ mg them d Just s the sme we c clculte: we c get.7 9. Further we c get the sture f the ed f the rbt s the fllwg t s the sme s the sture tht we gt the DM sftwre: ccrdg the smult DM we culd gt the dslcemet curve f the ed f the weldg rbt. he curves culd be see fg. dslcemet curve lg dslcemet curve lg
4 lvg the Kemtcs f Weldg Rbt Bsed DM dslcemet curve lg Fg dslcemet curve f the ed f rbt III. he lss f Iverse Kemtcs f Rbt he lgrthm f verse kemtcs s the bss f trjectr lg f the rbt. But there re lt f culg gles whe we fcg the equts f the kemtcs. slve ths rblem t cheve the vlue f cse d se f ech gle ths er use e r serl mtr multl mtr the left s tht ths equt wuld t clude ths gle. V ths methd we c fd the elemets tht rduce the vlues f cse d se. he we c cheve the gle tht we wt fshg the lss f verse kemtcs f the rbt.. the equt f verse kemtcs slvg ccrdg t the stve kemtcs equt we culd cheve the fllwg vlve f ~ detls s fllw: slvg: Usg multl left bth sde f equt we c get: tht ccrdg t the bve equt the vlue f the thrd d the furth le shuld equl we cheve he rcr r 8 Just s the sme methds we slve the vlue f we c ls get the vlue f ~. eeg s the fllwg: rct rct rct. ccrdg t the lss f stve kemtcs d the bve slved equts we culd use MLB t get the swers f ech jt d the results re: Pge
5 lvg the Kemtcs f Weldg Rbt Bsed DM Obvusl the re the sme wth the vlue tble. ths er crrectl vldte the equts f verse kemtcs. IV. clus hs er use the ltc methd deduce the equts f verse kemtcs s tht we c slve the rblem f the culg betwee gles. V the slvg rcess ths er deduced ech vlue f ~. d ccrdg t the equts f them t m hs 8 verse swers. But becuse f the lmt f the rbt structure ech jt culd t cheve the rtt f degrees. we just eed t chse best swer t meet the wrkg requremets f the rbt bsed the lmts. hs lgrthm l t the stut tht the lst three jts hs ublc tersect r t c l be slved thrugh slvg the mtr r clcultg the verse f the mtr. s we ll kw mst dustrl rbts hve the wrst jts. REFERENE Zhq Wg Xhe Xu hwg Y. PUM ew dervt d slut fr verse kemtc equt f multr. Rbt ggu Lu hqg Zhu Jgb L. Reserch rel tme verse kemtcs lgrthm fr rbt. trl ther d lct Yuch Lu Yume Hug Xue Hug. Iverse kemtcs f rbt kemtcs bsed geetc lgrthm. Rbt.998- Pul RP hm BE Mer G. Kemtc trl Equts fr mle Multrs. IEEERN M 989- Zg. Rbtcs. Qghu uverst ress. Zeggg L. DM detled structs d emles. Ntl defese dustr ress Pge
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