Kinematics Analysis of Ship Welding Robot with Variable Topology Structure
A ship welding robot with variable topology structure is designed， which can change the numbers of its components to achieve the change of degree of freedom(DOF)， and to accomplish specific welding tasks such as complex welding， simple partial welding， horizontal welding and vertical welding， etc. B...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.04.013 |
| _version_ | 1797819017153478656 |
|---|---|
| author | Zhengqiang Guo Yuchen Pan Xuepeng Yuan Haibo Huang Hongzhou Wang |
| author_facet | Zhengqiang Guo Yuchen Pan Xuepeng Yuan Haibo Huang Hongzhou Wang |
| author_sort | Zhengqiang Guo |
| collection | DOAJ |
| description | A ship welding robot with variable topology structure is designed， which can change the numbers of its components to achieve the change of degree of freedom(DOF)， and to accomplish specific welding tasks such as complex welding， simple partial welding， horizontal welding and vertical welding， etc. Based on the theory of kinematic chain loop and Newton-Raphson method， the kinematics model of the mechanism is established， and the forward position solution is obtained. Then the law of velocity and acceleration is analyzed. Finally， the simulation result shows that the newly designed manipulator can meet the requirements of ship welding effectively. |
| first_indexed | 2024-03-13T09:16:41Z |
| format | Article |
| id | doaj.art-eee6c8ecb9c24d4db1c04c5b55403739 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:16:41Z |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-eee6c8ecb9c24d4db1c04c5b554037392023-05-26T09:54:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0143747830646628Kinematics Analysis of Ship Welding Robot with Variable Topology StructureZhengqiang GuoYuchen PanXuepeng YuanHaibo HuangHongzhou WangA ship welding robot with variable topology structure is designed， which can change the numbers of its components to achieve the change of degree of freedom(DOF)， and to accomplish specific welding tasks such as complex welding， simple partial welding， horizontal welding and vertical welding， etc. Based on the theory of kinematic chain loop and Newton-Raphson method， the kinematics model of the mechanism is established， and the forward position solution is obtained. Then the law of velocity and acceleration is analyzed. Finally， the simulation result shows that the newly designed manipulator can meet the requirements of ship welding effectively.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.04.013Ship welding robot;Variable topology structure;Kinematics;Simulation analysis |
| spellingShingle | Zhengqiang Guo Yuchen Pan Xuepeng Yuan Haibo Huang Hongzhou Wang Kinematics Analysis of Ship Welding Robot with Variable Topology Structure Jixie chuandong Ship welding robot;Variable topology structure;Kinematics;Simulation analysis |
| title | Kinematics Analysis of Ship Welding Robot with Variable Topology Structure |
| title_full | Kinematics Analysis of Ship Welding Robot with Variable Topology Structure |
| title_fullStr | Kinematics Analysis of Ship Welding Robot with Variable Topology Structure |
| title_full_unstemmed | Kinematics Analysis of Ship Welding Robot with Variable Topology Structure |
| title_short | Kinematics Analysis of Ship Welding Robot with Variable Topology Structure |
| title_sort | kinematics analysis of ship welding robot with variable topology structure |
| topic | Ship welding robot;Variable topology structure;Kinematics;Simulation analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.04.013 |
| work_keys_str_mv | AT zhengqiangguo kinematicsanalysisofshipweldingrobotwithvariabletopologystructure AT yuchenpan kinematicsanalysisofshipweldingrobotwithvariabletopologystructure AT xuepengyuan kinematicsanalysisofshipweldingrobotwithvariabletopologystructure AT haibohuang kinematicsanalysisofshipweldingrobotwithvariabletopologystructure AT hongzhouwang kinematicsanalysisofshipweldingrobotwithvariabletopologystructure |