Offline Kinematics Simulation of 6-DOF Welding Robot

Abstract

Since the advent of the robots, they are widely applied in many areas of industry all over the world. With the advancement of the robot, many new research theories and technologies are developed on it. The single one impacted much more quickly and significantly is the application of computer offline simulation technology nowadays. Based on some relevant theories of robot, this paper suggests a new approach toward the offline research for the industrial robot. This method combines three advanced softwares with each playing an important role and making the best of their advantages respectively. It built a 3-D model for a 6-DOF welding robot in SolidWorks, worked out the simulation results of expected processing trajectory planning for the six links in MATLAB, then verified the trajectory simulation results and simulated the motion further in ADAMS. The kinematics simulation produced the processing motion course and relevant kinematics curves. The results indicate that the manipulator could implement the welding process according to the expected trajectory successfully and the total welding motion process and the poses of the robot just in time could be observed intuitively and dynamically. Also, this simulation lays a foundation for other virtual offline kinematics researches on robot by using relevant computer softwares without the actual robot.

Non-contact Storage Classification Based on Mechanical Arm in the Context of Prevention and Treatment of COVID-19

“…Forward kinematics analysis means the pose and position of the robot end-effector in a given uniform coordinate system can be calculated by the parameters of links and joints of the robot [5].…”

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

“…The differential motion and the Robot Jacobian in the end-effector frame are related to the joint movements of the manipulator. As the manipulator is a 4 degree of freedom robot, it is represented by equation (23).…”

“…Kinematic solutions for such robots are quite complex because of link constraints [11]. Much research is being carried out to solve these problems [23]. Researchers [24]- [26] have presented intelligent mobile robots for welding on spherical tanks where the robot base is fixed on tank surface and the manipulator travels on the spherical surface.…”

Kinematic analysis and simulation of a new-type robot with special structure

“…The aim of kinematics analysis is to describe the kinematic relationship between joints and end-effector. The analysis solutions can demonstrate how to control robot motion, and establish the dynamic equation and the model for error analysis [11,12].…”

“…The position of joints and orientations of rigid bodies can be described by coordinate systems fixed on joints [10]. So we build coordinate system on every active joint [12]. In Fig.…”