Design And Study Of Fsw Robot Based On 2UPR/RPS Parallel Mechanism

Friction stir welding(FSW) is a new and efficient alloy-welding technology, since FSW gather a lot of advantages, it spread rapidly in various industries at home and abroad. Most of welding equipment on the market are gantry-type or friction stir welding system that integrated in the series arm. The 3-DOF gantry-type FSW equipment can process most of the inerratic workpiece, however, the process become difficult when it face the surface welding seam or irregular welding seam. It may appear insufficient stiffness, when the welding system that integrated in the series arm process thicker plates.This paper designed a hybrid friction stir welding robot based on 2UPR/RPS constraint parallel mechanism combining high stiffness of the parallel robot. The paper analyzed the position kinematics solution and inverse kinematics solution of the 2UPR/RPS parallel mechanism and calculated the velocity Jacobian matrix of the mechanism. Planned the work scope of the robot, and designed the size and concrete structure of robot according to the tasks given above. Introduced the FSW process and assigned motor functions based on the FSW process and the DOF of the robot. Drew and analyzed the outline of the robot working space by using MTLAB, and the singularity of the parallel mechanism is discussed and there is non-singularity in working space.Conducted the finite element analysis of the key parts of robot by using Workbench and found the key parts meet the conditions required. Verified the inverse kinematics solution of the 2UPR/RPS parallel mechanism by comparing the length of drive rods in MATLAB and ADAMS. Finally, this paper made a summary and prospected of a further research in the future.