Structual Design And Dynamics Analysis Of Welding Manipulator

As the main force of industrial robots, welding manipulator can provide continuous and stable welding operation in harsh working environment, It can significantly improve the work efficiency, enhance the welding quality,reduce the labor intensity operational risk and production costs, so welding manipulator has been one of most important realm in the applications of industrial manufacturing. The design of a dedicated welding manipulator is used as study object, Aiming at systematic analysis of the motion characteristics and structural properties, the specific contents are as follows:(1) According to the study object,made a detailed analysis of the functional requirements and performance requirements of the welding manipulator, determined the principle of the program and its key technical parameters depend on requirements,also made a description of welding manipulator workspace both in numerical method and MATLAB simulation.(2) Established welding manipulator’s kinematics equation based on D-H coordinate system and derivate the positive solutions and inverse of manipulator’s kinematic.(3) According to the principles to determine each joint drive mode and transmission solutions, design its structure in details, made the3D solid model of the welding manipulator by Solidworks software.using ADAMS software for welding manipulator motion simulation, get the function curves of each joint in accordance with established trajectory,verified that each joint works stable and smoothly,provide a reference for the physical prototype manufacturing.(4) Aim at the structure optimal design of manipulators,the parts which bear great burden are selected and some necessary simplifications of structure of the parts are performed. Established its finite element models and made the static finite analysis based on the DOE method,attained the distributing nephograms of stress and deformations of each(5) structure,determined a reasonable form of structural components and make the further optimize based on Isight method. (6) Having a detailed analysis of robotic assembly, manufacturing machinery and its own stiffness influence for welding manipulator’s positioning error.Verified that the positioning error within the established range of error.Finally,purchasing the parts and manufacturing the first generation of welding manipulator.