The Impact Analysis of Revolute Pair Clearance to the End Pose Accuracy of Welding Robot

Abstract:

Various uncertain factors affect the movement of the welding robot, thus welding gun tend to deviate from the theory of welding position which reduces the welding accuracy, of which the revolute pair clearance have an greater effect on the movement of the welding robot. In order to study the influence of revolute pair clearance to the end pose accuracy of welding robot, the mathematical model of revolute pair clearance was established, and the software SolidWorks was used for establishing the welding robot model, making simulations of the mechanical arm with joint clearance and no joint clearance. At last, the movement characteristic of the hinge shaft is attained. The simulation results showed that the shaft velocity and displacement of mechanical arm with joint clearance has a certain degree of fluctuation, which affecting the end pose accuracy of welding robot , and reducing the movement stability and the welding accuracy of welding robot.

• Periodical: Applied Mechanics and Materials (Volume 778)
• Pages: 259-263
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.778.259
• Online since: July 2015
• Authors: Fa Jun Zhang*, Lin Zi Li, Hui Lin, Yin Lin Pu, Zhu Xin
• Keywords: Motion Simulation, Pose Accuracy, Revolute Pair Clearance, Welding Robot

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