Robot Workspace Reconstructing Solving Method Based on Image Engine
Research and application of spatial multi-joint robot become hot point in recent years. In this paper, a practical arc welding robot produced by ABB is selected as research subject, separate essential structural parameters of it, establish coordinate frame of link as well as D-H parameter list, analyze its forward kinematics and get position vector of the end-effector. Then, visual model is created to checkout rationality of the forward kinematics analysis. Finally, workspace reconstruction based on DirectX is raised. When researchers compare robot workspace simulation based on Monte Carlo method with our new method, the latter has the feature of modelling and digitization, which lays a foundation of designing arc welding robot efficiently and steadily.
Study on workspace analysis and simulation of 6-DOF painting robot based on monte-carlo method
Comparing recent kinds of methods working on robot workspace when we design to calculate the workspace of 6R painting robot,we bring Monte-Carlo method to analysis the workspace according to the actual working condition. With robot Tool Center Point(TCP) position aggregate via the solution of forward kinetic equation,Monte-Carlo method analysis and simulate painting robot workspace efficiently.
Locating method analysis based rapid fixture configuration design
Flexible fixturing is an important issue in advanced manufacturing. Modular fixtures are the most widely used flexible fixtures in industry. This paper presents a rapid fixture design system which combines the automated modular fixture configuration design technique for fixture unit generation and interactive fixture design functions for selections of locating methods and locating/clamping components. By applying the rapid fixture design system, manufacturing lead time may be reduced significantly.