Investigation of the Dynamic Characteristics of the Manipulator of the Industrial Robot Technology

Butenko, V. I.; Davidova, Irina; Pastukhov, Philipp; Bagdasaryan, Tatyana

doi:10.1051/matecconf/201929702003

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…Two-beam laser welding has been paid more and more attention in aviation field, because it is an advanced process for precise, low distortion joining of manufacturing parts [2] . During the application of industrial robot to two-beam laser welding, in addition to good reliability and suitable workspace, the overall structure of industrial robot also needs well dynamic performance [3][4][5] , which will directly affect the stability, reliability and accuracy of the robot. Performance of industrial robots is limited due to their mechanical structure involving rotational joints with a lower stiffness.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Characteristics Analysis of Two-Beam Laser Welding Robot for Fulselage Panels

Zeng

Liu

et al. 2021

Preprint

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Industrial robotics is becoming increasingly popular in the field of manufacturing automation. Two-beam laser welding robot which is a proprietary industrial robot of great importance to improve the welding quality of stringer-skin T-shape structure. In the process of two-beam laser cooperative welding, the robot constantly adjusts its own posture, and the position and posture of each joint would change simultaneously, which leads to the change of the natural frequency, and other dynamic characteristics of the welding robot. Based on the finite element method (FEM), the modal analysis of the robot joints in the range of motion ability and the range of motion in the process of two beam laser welding are studied, which can provide the basis for the design and accurate control of the robot with high degree of freedom (DOF). The dynamic characteristics of the whole robot in different positions and attitudes is carried out, which includes two parts, one is importance ranking of 18 joints of the robot through orthogonal test according to the range of each joint movement. The other is obtaining a plurality of time points in one welding cycle, and performing a modal analysis of the robot at each time point on the basis of the robot joints in the range of motion during the process of two-beam laser welding, the optimal number of time nodes are attained and the test workload could be reduced. The approach described herein provides a theoretical basis for robotics design and control optimization.

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