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

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

1905

Lastpage

1910

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5986271

Filename

5986271