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A study on simulation model and kinematic model of welding robot

Wybrane pełne teksty z tego czasopisma
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Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-platform PLM/CAD/CAM/CAE commercial software suite to use to develop six degree freedom for Faraman AM1 welding robot. The forward kinematic and inverse kinematic equations are also used to verify the developed model. Findings: The results obtained from the six degree freedom for Faraman AM1 simulated model has a good agreement with computed kinematic models equations. The catia V5 a very powerful tool which could used in develope a simulation for robotic welding system. The the angle error between simulated model and computed inverse kinmenatic equation obtained too very small. Research limitations/implications: The developed simulated in Catia is mainly aimed to be used in GMA welding process. D-H (Denavit-Hartenberg) convection is used to determine the orthonormal coordinate frames at different joints of a robotic manipulator and determining four kinematic parameters. Originality/value: The six degree freedom for Faraman AM1 welding robot is model to analysed and compared with forward and inverse knimatic.
Rocznik
Strony
66--73
Opis fizyczny
Bibliogr. 14 poz., rys., tab.
Twórcy
autor
  • Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea
autor
  • Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea, ilsookim@mokpo.ac.kr
autor
  • Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea
autor
  • Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea
Bibliografia
  • [1] T.T. Doan, I.S. Kim, H .H. Kim, J.W. Jeong, B.Y. Kang, Developed simulation modal-kinematics for robotics arc welding, Asian International Journal of Scienece and Technology in Production and Manufacturing 1/2 (2008) 69-79.
  • [2] C.E. Park, J.W. Jeong, A study on the real-time measurement of welding deformation, Journal of Advance Engineering and Technology 2/1 (2009) 199-123.
  • [3] F.S. Cheng, A methodology for developing robotic workcell simulation models, Proceedings of the 2000 Winter Simulation Conference, Orlando, 2000, 1265-1271.
  • [4] M. Ericsson, P. Nylén, G. Bolmsjö, Three dimensional simulation of robot path and heat transfer of a TIG-welded part with complex geometry, Proceedings of the 11th International Conference on Computer Technology in Welding, Colorado, 2002, 309-316.
  • [5] A.P. Pashkevich, A.B. Dolgui, K.I. Semkin, Kinematic aspects of a robot-positioner system in an arc welding application, Control Engineering Practice 11/6 (2003) 633-647.
  • [6] Jr. Ang, H. Marcelo, W. Lin, S.Y. Lim, A walk-through programmed robot for welding in shipyards, Industrial Robot 26/5 (1999) 377-388.
  • [7] P.C. Tung, M.C Wu, Y.R. Hwang, An image-guided mobile robotic welding system for SMAW repair processes, International Journal of Machine Tools and Manufacture 44/11 (2004) 1223-1233.
  • [8] B.T Lin, S.H. Hsu, Automated design system for drawing dies, Expert Systems with Applications 34/3 (2008) 1586-1598.
  • [9] W. Skarka, Application of MOKA methodology in generative model creation using CATIA, Engineering Applications of Artificial Intelligence 20/5 (2007) 677-690.
  • [10] C.H. Chu, M.C. Song, C.S. Luo, Computer aided parametric design for 3D tire mold production, Computers in Industry 57 (2006) 11-25.
  • [11] T.R. Kurfess (Ed.), Robotics and automation handbook, CRC Press Inc., 2005.
  • [12] N.G. Zamani, J.M. Weaver, CATIA V5 tutorials, Mechanism design and animation, Release 14 and 15, SDC Publications, Detroid, 2010.
  • [13] Y. Hurmuzlu, O.D.I. Nwokah, The mechanical systems design handbook, Modeling, measurement and control, CRC Press, 2001.
  • [14] M. O’Malley, MECH 498, Introduction to robotics, Inverse manipulator kinematics.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-c3001bc6-c46c-463f-8396-810493931d5a
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