Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation

doi:10.1177/1687814019866518

IMR OpenIR

	Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation
	Luo, Haitao 1,2; Fu, Jia 1; Jiao, Lichuang 1; Liu, Guangming 1; Yu, Changshuai 1; Wu, Tingke 1
通讯作者	Luo, Haitao(luohaitao@sia.cn)
	2019-07-01
发表期刊	ADVANCES IN MECHANICAL ENGINEERING
ISSN	1687-8132
卷号	11 期号:7 页码:12
摘要	The mechanical configuration, structural composition, and five typical working conditions of a newly developed friction stir welding robot are introduced. The kinematics model of the friction stir welding robot is established and the forward kinematics equations, inverse kinematics equations, and the Jacobian matrix are solved. In addition, the dynamics model of the friction stir welding robot is also built by using the Lagrange method. The centroid position coordinate and inertia matrix of each part are obtained. Finally, the dynamic equation of friction stir welding robot is determined. According to the kinematics and dynamics model of robots, simulation analysis for friction stir welding robot based on virtual prototyping technology was carried out. The trajectory equation of the weld joint under the condition of melon petal welding is established, the spline trajectory is fitted by many discrete points measured by the contact probe, and the trajectory planning of each joint and the changing laws of motion parameters under the friction stir welding robot melon petal welding condition are obtained. The movement laws and the loading conditions of each joint can be better controlled by designers, and provide solid theoretical support for the static and dynamic characteristics analysis and structural optimization of the friction stir welding robot.
关键词	Friction stir welding robot typical working conditions kinematics dynamics trajectory planning
资助者	National Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xingsong Innovation Fund'', Shenyang Institute of Automation (SIA)
DOI	10.1177/1687814019866518
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xingsong Innovation Fund'', Shenyang Institute of Automation (SIA)
WOS研究方向	Thermodynamics ; Engineering
WOS类目	Thermodynamics ; Engineering, Mechanical
WOS记录号	WOS:000476998400001
出版者	SAGE PUBLICATIONS LTD
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/134829
专题	中国科学院金属研究所
通讯作者	Luo, Haitao
作者单位	1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China 2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Liaoning, Peoples R China
推荐引用方式 GB/T 7714	Luo, Haitao,Fu, Jia,Jiao, Lichuang,et al. Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation[J]. ADVANCES IN MECHANICAL ENGINEERING,2019,11(7):12.
APA	Luo, Haitao,Fu, Jia,Jiao, Lichuang,Liu, Guangming,Yu, Changshuai,&Wu, Tingke.(2019).Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation.ADVANCES IN MECHANICAL ENGINEERING,11(7),12.
MLA	Luo, Haitao,et al."Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation".ADVANCES IN MECHANICAL ENGINEERING 11.7(2019):12.