DESIGN AND EXPERIMENTAL VERIFICATION OF AN INTELLIGENT WALL-CLIMBING WELDING ROBOT SYSTEM

被引：0
|
作者：
Gui, Zhongcheng [1 ]
Deng, Yongjun [1 ]
Sheng, Zhongxi [1 ]
Xiao, Tangjie [1 ]
Li, Yonglong [1 ]
Zhang, Fan [1 ]
Dung, Na [1 ]
Wu, Jiandong [1 ]
机构：
[1] Dongfang Elect Corp, Intelligent Equipments & Control Technol Inst, Chengdu, Peoples R China
来源：
MOBILE SERVICE ROBOTICS | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new intelligent wall-climbing welding robot system (IWWRS) is presented in this paper, which is composed of robot body, control system and welding system. The robot body including a mobile platform and a three DOFs manipulator is designed by theory analysis of the mechanical model. IWWRS employs a device combined of arrayed gapped adsorption and magnetic-wheel-adsorption to climb on curved ferromagnetic surfaces. The control system is composed of hardware, software and coordinated control algorithm. A set of experiments are carried out to demonstrate and verify the properties of IWWRS in the on-site welding factory. And the application results show that IWWRS can satisfy the demands of automatic welding of large-scale ferromagnetic structure and work with better quality and efficiency compared to manual welding.
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页码：117 / 124
页数：8
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