A study on simulation model and kinematic model of welding robot

• Autorzy: Jeong J. W. , Kim I. S. , Chand R. R. , Lee J. H.
• 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.

Słowa kluczowe

EN

CATIA V5; simulation model; Faraman AM; forward kinematic; inverse kinematic; Denavit-Hartenberg parameters; welding robots

• Wydawca: International OCSCO World Press
• Czasopismo: Journal of Achievements in Materials and Manufacturing Engineering
• Rocznik: 2012
• Tom: Vol. 55, nr 1
• Strony: 66--73
• Opis fizyczny: Bibliogr. 14 poz., rys., tab.

Twórcy

autor

Jeong J. W.

• Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea

autor

Kim I. S.

• Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea

autor

Chand R. R.

• Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea

autor

Lee J. H.

• Department of Mechanical Engineering, Mokpo National University, 16, Dorim-ri, Chungkye-myun, Muan-gun, Jeonnam 534-729, South Korea

Bibliografia

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