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Kinematic Modeling of 3P2R Welding Robot Based on D-H Parameters
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Kinematic Modeling of 3P2R Welding Robot Based on D-H Parameters
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Journal Article
Kinematic Modeling of 3P2R Welding Robot Based on D-H Parameters
2022
Overview
To meet the demand of different vehicle models welding task, as well as lower the cost of specialized welding facility, a kind of 3P2R arc welding robot has been developed and SolidWorks is used to set up the Three Dimensional (3D) solid model. The developed robot includes 3P2R body, controller, and a welding power supply. The direct kinematical model and inverse solution have been worked out basing on Denavit-Hartenberg (D-H) method, and the direct kinematical model and inverse solution are verified by experiment. This robot could also be used to burring or spray field with the actuator changed.
Publisher
IOP Publishing
Subject
