Papers by Author: Cai Dong Wang

Abstract: Welding robot has the advantages that welding quality stability, high efficiency, improving the working conditions of workers, and it is widely applied in the manufacturing sector. A six degree of freedom welding robot configuration is presented in this paper. The kinematics model of the robot is established by DH method and its kinematics was analyzed. At last the error model of the position-pose of the robot end-effecter, produced by the influence of robot joint movement variables deviation and structure deviation, was established by the differential method. The deviation influence on the end-effecter was analyzed by numerical simulation. The results prove the error model is right, and they will provide a reliable basis for robot position error compensation and accuracy optimum design.

Abstract: In the moving process of four-legged walking robot, the robot uses the random 3 foots to support its body, and the rest 1 foot to swing. This process is carried on alternately to complete the robot moved forward. If the robot's foothold position, the independent drive joint variables and the length of leg linkage are inaccurate, the robot's swing leg would deviate from the desired position, which led to the robot will deviate from the target track. The robot's swing leg trajectory is analyzed in this paper. On this basis, the swing leg trajectory accuracy is discussed under the condition that the errors of the robot's foothold position, drive joint variables and leg's linkage length are given. The analysis process is illustrated by an example. The error analysis has significant meaning for four-legged walking robot control .

Abstract: The working space of manipulator is an important dynamic index. Based on Monte-Carlo method, working space of the 6-DOF (degrees of freedom) underwater manipulator is analyzed in this paper. The virtual prototype of the manipulator is established. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator’s working space is bigger and has obtained better effect, which can meet the 6-DOF underwater manipulator operational requirements. The results provide an important reference for the 6-DOF underwater manipulator body design and trajectory planning.