Design and Motion Simulation of Welding Robot for U-Type Steel Structure
Aiming at the welding condition of U-type steel structure plate fillet weld in narrow space of cabin,a kind of sus-pended mobile welding robot with similar track is designed.The welding robot is composed of a mobile robot body,a two degree of freedom manipulator and a welding torch.Firstly,the structure design of welding robot is introduced;Secondly,the parameter relationship between the minimum turning radius of U-type steel structure and the variables of the robot is analyzed to ensure the turning requirements;Finally,ADAMS is used to simulate the movement process of the robot,and the influence of multiple vari-ables on the offset and vibration of the welding torch end in Y and Z directions is studied.The results show that:in the moving pro-cess,the welding trajectory of the torch in the middle of the robot is the easiest to control;the Z-direction position of the clamping wheel is 24.25mm,the offset in Z direction is stable,and the vibration in Y and Z directions is small;under the premise of meet-ing the structural installation,the spring with larger stiffness should be selected;when the spring preload is 20N,the offset and vibration in Y and Z directions are greatly improved.
Mobile Welding RobotU-Type Steel StructureADAMS SimulationOffsetVibration
NETL
NSTL
万方数据
维普
