Kinematics Analysis of Ship Welding Robot with Variable Topology Structure

Zhengqiang Guo; Yuchen Pan; Xuepeng Yuan; Haibo Huang; Hongzhou Wang

doi:10.16578/j.issn.1004.2539.2019.04.013

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Kinematics Analysis of Ship Welding Robot with Variable Topology Structure

Design· Calculation | 更新时间：2022-10-03

- Kinematics Analysis of Ship Welding Robot with Variable Topology Structure
- Journal of Mechanical Transmission Vol. 43, Issue 4, Pages: 74-78(2019)
- 作者机构：
  
  1.广西高校临海机械装备设计制造及控制重点实验室培育基地，广西钦州 535011
  2.广西科技大学机械工程学院，广西柳州 545000
  3.江西省机械科学研究所，江西南昌 330002
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.04.013
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郭正强,潘宇晨,袁雪鹏等.变拓扑结构船舶焊接机器人机构运动学分析[J].机械传动,2019,43(04):74-78.

Guo Zhengqiang,Pan Yuchen,Yuan Xuepeng,et al.Kinematics Analysis of Ship Welding Robot with Variable Topology Structure[J].Journal of Mechanical Transmission,2019,43(04):74-78.
郭正强,潘宇晨,袁雪鹏等.变拓扑结构船舶焊接机器人机构运动学分析[J].机械传动,2019,43(04):74-78. DOI： 10.16578/j.issn.1004.2539.2019.04.013.

Guo Zhengqiang,Pan Yuchen,Yuan Xuepeng,et al.Kinematics Analysis of Ship Welding Robot with Variable Topology Structure[J].Journal of Mechanical Transmission,2019,43(04):74-78. DOI： 10.16578/j.issn.1004.2539.2019.04.013.

摘要

设计了一种拓扑结构可变的船舶焊接机器人机构，可改变自身构件数，完成自由度变化，实现复杂焊接、简单局部焊接及平焊、立焊等特殊焊接任务。基于运动链环路理论，并采用Newton-Raphson法进行机构运动学建模，得到其位置正解，进而分析其速度与加速度规律。相关仿真分析结果表明，该机构可较好完成船舶焊接的工作要求。

Abstract

A ship welding robot with variable topology structure is designed， which can change the numbers of its components to achieve the change of degree of freedom(DOF)， and to accomplish specific welding tasks such as complex welding， simple partial welding， horizontal welding and vertical welding， etc. Based on the theory of kinematic chain loop and Newton-Raphson method， the kinematics model of the mechanism is established， and the forward position solution is obtained. Then the law of velocity and acceleration is analyzed. Finally， the simulation result shows that the newly designed manipulator can meet the requirements of ship welding effectively.

关键词

船舶焊接机器人变拓扑结构运动学仿真分析

Keywords

Ship welding robotVariable topology structureKinematicsSimulation analysis

references

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