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| 膨胀波纹管焊接机器人的研制及其机构运动分析 | |
| 引用本文： | 陶兴华,朱宏武,曾义金,徐立力.膨胀波纹管焊接机器人的研制及其机构运动分析[J].中国石油大学学报(自然科学版),2011,35(4):119-122,128. |
| 作者姓名： | 陶兴华 朱宏武 曾义金 徐立力 |
| 作者单位： | 1. 中国石油大学机械与储运工程学院,北京102249;中石化石油工程技术研究院,北京100101 2. 中国石油大学机械与储运工程学院,北京,102249 3. 中石化石油工程技术研究院,北京,100101 4. 北京化工大学机电工程学院,北京,100029 |
| 基金项目： | 国家“863”高科技研究项目 |
| 摘 要： | 对一种满足"8"字型膨胀波纹管自动焊接的机器人进行研究。分析膨胀波纹管结构特点,提出基于焊接小车、微型跟踪执行机构、微型焊枪、高低跟踪机构的机器人系统机构方案,对机器人系统机构方案进行运动分析,建立基于D-H法则的焊接机器人运动学模型,通过模型分析及Matlab仿真验证机构模型的正确性。结果表明,建立的基于压力检测的焊接小车与微型跟踪执行机构协同作业机制,解决了"8"字形波纹管断面的机器人焊缝轨迹跟踪问题。仿真结果验证了所建机构模型的正确性。 |
| 关 键 词： | 膨胀波纹管 焊接机器人 D-H法则 运动学模型 分析 |
Development and mechanism motion analysis of welding robot for expandable profile liner |
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| TAO Xing-hua,ZHU Hong-wu,ZENG Yi-jin,XU Li-li.Development and mechanism motion analysis of welding robot for expandable profile liner[J].Journal of China University of Petroleum,2011,35(4):119-122,128. | |
| Authors: | TAO Xing-hua ZHU Hong-wu ZENG Yi-jin XU Li-li |
| Institution: | TAO Xing-hua1,2,ZHU Hong-wu1,ZENG Yi-jin2,XU Li-li3 (1.Faculty of Mechanical and Oil-Gas Storage and Transportation Engineering in China University of Petroleum,Beijing 102249,China,2.Research Institute of Petroleum Engineering,SINOPEC,Beijing 100101,3.Mechanical and Electrical Engineering School in Beijing University of Chemical Technology,Beijing 100029,China) |
| Abstract: | A robot was studied for the automatic welding of 8 type expandable profile liner(EPL).The structure characteristics of EPL were analyzed.The welding robot mechanism plan was proposed that was composed of a welding carriage,a mini tracking system,a mini welding gun and a height control system.The motion analysis for the robot mechanism was implemented and the robot kinematics model was built based on D-H rule.The correctness of the model was verified via Matlab simulation and the model analysis. The cooperat... |
| Keywords: | expandable profile liner welding robot D-H rule kinematics model analysis |
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