MATEC Web Conf.
Volume 327, 20202020 4th International Conference on Measurement Instrumentation and Electronics (ICMIE 2020)
|Number of page(s)||4|
|Section||Mechanical Design and Vehicle Engineering|
|Published online||06 November 2020|
Kinematic Performance Analysis of a Controllable Mechanism Welding Robot with Joint Clearance
1 School of Mechanical Engineering, Guangxi University, Nanning, China
2 School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China.
* Corresponding author: firstname.lastname@example.org
Because the motor and reducer of the conventional tandem welding robot are installed at the revolute joint, the robot has large rotational inertia and long residual vibration time. However, due to the limitation of workspace and other reasons, the current parallel robot is not suitable for all series welding robots. Therefore, based on the concept of "multi-degree-of-freedom controllable mechanism", a new controllable mechanism welding robot is proposed in this paper. The driving motor and reducer, which have great influence on the main and branch chain of the welding robot, are installed on the frame. The advantage of this design is that the inertia of the robot mechanism is significantly reduced, and its dynamic performance is improved. The position errors of the end members of the welding robot moving along the circle, as well as the angle errors of each joints under the circle movements are analysed.
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.