Title :
Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn
Author :
Wang, Yan-Shen ; Ge, Lian-Zheng ; Xie, Ping-Chun ; Gai, Yu-Xian
Author_Institution :
Dept. of Mech. Eng., Harbin Inst. of Technol. at Weihai, Weihai, China
Abstract :
Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.
Keywords :
control engineering computing; robot dynamics; robotic welding; spot welding; springs (mechanical); virtual prototyping; D-H parameter; Pro/Engineer; RecurDyn; driving torque; dynamic simulation; gravity balancing optimization; robots link; spot welding robot; spring; virtual prototype; Gravity; Joints; Robot kinematics; Solid modeling; Springs; Torque; RecurDyn; dynamic simulation; gravity balance; robot; spring;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5986271
