ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT
To solve the problem of relative position installation between welding robot with welded parts,the workspace flexibility of the robot is analyzed. Firstly,the D-H method is used to model the kinematics of the robot,and the working space of the robot is solved by Monte Carlo method. Then,by means of...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2021-01-01
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| Series: | Jixie qiangdu |
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| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2021.03.036 |
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| _version_ | 1841535902125391872 |
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| author | GAO Lu SUN Bo FU BaoDing |
| author_facet | GAO Lu SUN Bo FU BaoDing |
| author_sort | GAO Lu |
| collection | DOAJ |
| description | To solve the problem of relative position installation between welding robot with welded parts,the workspace flexibility of the robot is analyzed. Firstly,the D-H method is used to model the kinematics of the robot,and the working space of the robot is solved by Monte Carlo method. Then,by means of the concept of service ball,a calculating method of flexibility suitable for the welding part is proposed,and the flexibility in the working space of the robot is solved. In the end,the influence of various parameters on the flexibility is analyzed,and through the genetic algorithm to optimize flexibility,the more flexibility of the robot workspace is obtained. This study provides a reference for the relative installation position between robot with welded parts and can ensure the reliability of welding. |
| format | Article |
| id | doaj-art-e28b985551dc47e7a2ad6aa2bcc935b9 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-e28b985551dc47e7a2ad6aa2bcc935b92025-01-15T02:26:07ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692021-01-014375876230611067ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOTGAO LuSUN BoFU BaoDingTo solve the problem of relative position installation between welding robot with welded parts,the workspace flexibility of the robot is analyzed. Firstly,the D-H method is used to model the kinematics of the robot,and the working space of the robot is solved by Monte Carlo method. Then,by means of the concept of service ball,a calculating method of flexibility suitable for the welding part is proposed,and the flexibility in the working space of the robot is solved. In the end,the influence of various parameters on the flexibility is analyzed,and through the genetic algorithm to optimize flexibility,the more flexibility of the robot workspace is obtained. This study provides a reference for the relative installation position between robot with welded parts and can ensure the reliability of welding.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2021.03.036Welding robotFlexibilityGenetic algorithmOptimization |
| spellingShingle | GAO Lu SUN Bo FU BaoDing ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT Jixie qiangdu Welding robot Flexibility Genetic algorithm Optimization |
| title | ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT |
| title_full | ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT |
| title_fullStr | ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT |
| title_full_unstemmed | ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT |
| title_short | ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT |
| title_sort | analysis and optimization of workspace flexibility of welding robot |
| topic | Welding robot Flexibility Genetic algorithm Optimization |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2021.03.036 |
| work_keys_str_mv | AT gaolu analysisandoptimizationofworkspaceflexibilityofweldingrobot AT sunbo analysisandoptimizationofworkspaceflexibilityofweldingrobot AT fubaoding analysisandoptimizationofworkspaceflexibilityofweldingrobot |