Title :
A Novel 5-DOF welding robot based on SCARA
Author :
Feng Cao;Jihao Liu;Chen Zhou;Yanzheng Zhao;Zhuang Fu;Weixin Yan
Author_Institution :
State Key Lab of Mechanical System and Vibration, Robotics Institute, Shanghai Jiao Tong University, 200240, China
fDate :
6/1/2015 12:00:00 AM
Abstract :
This paper raises and analyses a novel 5-DOF welding robot which is based on SCARA. The robot is not only compatible but multifunctional because of the introduction of functional end that consists of two degrees of freedom, which are mutually perpendicular. After building the model, the kinematics analysis is carried out, through which the general formula of the forward as well as inverse kinematics is reached with D-H method. And only in that way, the human can get the method which is used for the position and velocity of the 5-DOF robot. In order to ensure the reliability of the robot in practical application, the modality of it is analyzed with ANSYS.
Keywords :
"Robot kinematics","Service robots","Welding","Kinematics","Torque","Finite element analysis"
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2015 IEEE 10th Conference on
DOI :
10.1109/ICIEA.2015.7334444
