Kinematic Modeling of 3P2R Welding Robot Based on D-H Parameters. Issue 1 (1st March 2022)

• Record Type: Journal Article
• Authors: Chen, Hongtang; Ma, Haijun; Jiang, Hongli; Lv, Shenjin; Li, Yong; Liu, Heshan
• Is Part Of: Journal of physics. Volume 2218:Issue 1(2022)
• Publication Date: 2022-03-01
• Subjects: Welding Robot -- 3P2R -- Denavit-Hartenberg method.; Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/2218/1/012085
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: 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.