Dynamics co-simulation of a type of spot welding robot by RecurDyn and Simulink

Author

Wang, Yan-Shen ; Gai, Yu-Xian ; Xie, Ping-Chun

Author_Institution

Dept. of Mech. Eng., Harbin Inst. of Technol. at Weihai, Weihai, China

fYear

2011

fDate

16-18 April 2011

Firstpage

4934

Lastpage

4937

Abstract

A co-simulation on virtual prototype of a type of spot welding robot has been accomplished by combining MATLAB/Simulink with RecurDyn. The control algorithm is executed under MATLAB to generate command forces, which are then exported to RecurDyn environment and applied to actuators of the virtual prototype at each cycle of time. Dynamic control on joint angles was accomplished through the co-simulation. Torques of each joint and the velocity of the clamp end were also acquired by co-simulation, which can give useful information for optimizing robot design.

Keywords

actuators; control engineering computing; optimisation; robot dynamics; robotic welding; spot welding; virtual prototyping; MATLAB-Simulink; RecurDyn; actuators; command forces; dynamic joint angle control; dynamics cosimulation; robot design optimization; spot welding robot; virtual prototype; Clamps; Joints; MATLAB; Mathematical model; Prototypes; Robot kinematics; RecurDyn; Simulink; dynamics; robot; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on

Conference_Location

XianNing

Print_ISBN

978-1-61284-458-9

Type

conf

DOI

10.1109/CECNET.2011.5768738

Filename

5768738