Positional accuracy analysis of welding robot under mechanism clearance and elastic deformation

Aiming at the special environment of aluminum plant, a dual-arm robot composed of carrying arm, welding arm and sliding rail is developed. It is able to accomplish automatic welding a certain amount of steel sheets between the two ends of the cathode bus in aluminum electrolytic cells. Designed weld...

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Bibliographic Details
Published in2016 12th World Congress on Intelligent Control and Automation (WCICA) pp. 3253 - 3258
Main Authors Yijian Mao, Fengshui Jing, Zize Liang, Zaojun Fang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2016
Subjects
Computational modeling
Gravity
Kinematics
Manipulators
Mathematical model
Welding
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Summary:Aiming at the special environment of aluminum plant, a dual-arm robot composed of carrying arm, welding arm and sliding rail is developed. It is able to accomplish automatic welding a certain amount of steel sheets between the two ends of the cathode bus in aluminum electrolytic cells. Designed welding robot can be abstracted as a planar mechanism with three revolute joints. Position accuracy, one of the most significant performance evaluations of an industrial robot, is analyzed under joint clearance, drive backlash and elastic deformation. Normally joint clearances and drive backlash are identified as two contributors for positional errors in serial chain manipulator. In our model, elastic deformation is taken into consideration for higher precision. Deformation differs with different position, causing highly coupling degree and computation complexity. Experiments about the effects of the three influence factors are well conducted. Maximum errors influenced by clearance, backlash and deformation are estimated at all possible manipulator positions.
DOI:10.1109/WCICA.2016.7578701