A Novel 5-DOF Welding Robot Based on SCARA

被引：0
|
作者：
Cao, Feng [1 ]
Liu, Jihao [1 ]
Zhou, Chen [1 ]
Zhao, Yanzheng [1 ]
Fu, Zhuang [1 ]
Yan, Weixin [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Inst Robot, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
来源：
PROCEEDINGS OF THE 2015 10TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS | 2015年
关键词：
SCARA; 5-DOF; 2-DOF end; kinematics; finite element analysis;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper raises and analyses a novel 5-DOF welding robot which is based on SCARA. The robot is not only compatible but multifunctional because of the introduction of functional end that consists of two degrees of freedom, which are mutually perpendicular. After building the model, the kinematics analysis is carried out, through which the general formula of the forward as well as inverse kinematics is reached with D-H method. And only in that way, the human can get the method which is used for the position and velocity of the 5-DOF robot. In order to ensure the reliability of the robot in practical application, the modality of it is analyzed with ANSYS.
引用
收藏
页码：2010 / 2013
页数：4
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