期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 28, 期 4, 页码 449-457出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2012.02.001
关键词
Joint clearance; Weld seam; Robot manipulator; Contact force
In this study, effects of joint clearance on a welding robot manipulator are investigated. Theoretical analysis is performed for different clearance sizes. By using the nonlinear spring-damper characteristic, contact model in revolute joint with clearance is established and the friction effect is performed using the Coulomb friction model. Then the simulation is carried out to investigate the kinematic and dynamic characteristics of the welding robot manipulator with joint clearance. For the case of two different clearance sizes, the results show that the joint clearance causes to degradation of kinematic and dynamic performance of the system. Even if the clearance size is small, it has a crucial role on amplitudes of the end-effector's accelerations and joint forces. (C) 2012 Elsevier Ltd. All rights reserved.
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