Qingfei Zeng, Xuemei Liu, Chengrong Qiu, Aiping Li
{"title":"多机械手协作焊接机器人的运动特性分析","authors":"Qingfei Zeng, Xuemei Liu, Chengrong Qiu, Aiping Li","doi":"10.1109/ACIRS.2019.8935973","DOIUrl":null,"url":null,"abstract":"Due to the special structure of the new dual-beam laser cooperative welding robot with multiple manipulators which is used in aerospace industry. In this paper, the kinematics model of the new welding robot with multiple robotic arms is established based on Denavit-Hartenberg (DH) method. The correctness of the kinematics model of the robot is verified. The workspace of the cooperative welding robot with multiple manipulators is obtained with Monte Carlo method, which reflects the kinematic performance of the robot, and the space constraint of the welding trajectory for dual-beam laser is obtained. By analyzing the kinematic characteristic of the dual-beam laser cooperative welding robot with multiple manipulators, the stability of the robot system can be improved.","PeriodicalId":338050,"journal":{"name":"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Kinematic Characteristics Analysis of Cooperative Welding Robot with Multiple Manipulators\",\"authors\":\"Qingfei Zeng, Xuemei Liu, Chengrong Qiu, Aiping Li\",\"doi\":\"10.1109/ACIRS.2019.8935973\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Due to the special structure of the new dual-beam laser cooperative welding robot with multiple manipulators which is used in aerospace industry. In this paper, the kinematics model of the new welding robot with multiple robotic arms is established based on Denavit-Hartenberg (DH) method. The correctness of the kinematics model of the robot is verified. The workspace of the cooperative welding robot with multiple manipulators is obtained with Monte Carlo method, which reflects the kinematic performance of the robot, and the space constraint of the welding trajectory for dual-beam laser is obtained. By analyzing the kinematic characteristic of the dual-beam laser cooperative welding robot with multiple manipulators, the stability of the robot system can be improved.\",\"PeriodicalId\":338050,\"journal\":{\"name\":\"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACIRS.2019.8935973\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACIRS.2019.8935973","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic Characteristics Analysis of Cooperative Welding Robot with Multiple Manipulators
Due to the special structure of the new dual-beam laser cooperative welding robot with multiple manipulators which is used in aerospace industry. In this paper, the kinematics model of the new welding robot with multiple robotic arms is established based on Denavit-Hartenberg (DH) method. The correctness of the kinematics model of the robot is verified. The workspace of the cooperative welding robot with multiple manipulators is obtained with Monte Carlo method, which reflects the kinematic performance of the robot, and the space constraint of the welding trajectory for dual-beam laser is obtained. By analyzing the kinematic characteristic of the dual-beam laser cooperative welding robot with multiple manipulators, the stability of the robot system can be improved.
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