Error Analysis of 6-DOF Welding Robot

Cai Dong Wang; Xin Jie Wang; Xue Dong Chen; Chao Hui Zhang

doi:10.4028/www.scientific.net/AMM.220-223.1111

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 220-223Error Analysis of 6-DOF Welding Robot

Error Analysis of 6-DOF Welding Robot

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.

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Periodical:

Applied Mechanics and Materials (Volumes 220-223)

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1111-1115

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https://doi.org/10.4028/www.scientific.net/AMM.220-223.1111

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Online since:

November 2012

Authors:

Cai Dong Wang, Xin Jie Wang, Xue Dong Chen, Chao Hui Zhang

Keywords:

Error Analysis, Kinematics, Simulation, Welding Robot

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