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.
Conceptual design and workspace analysis of reconfigurable fixturing robots for sheet metal assembly
Purpose – Reconfigurability of the assembly fixtures, which enables a set of sheet metal automotive parts to be produced on a single production line, is becoming crucial to maintaining competitiveness in the rapidly changing market. One of the key issues in reconfigurable fixture design is to identify the fixture configuration and make sure there is enough workspace for a family of parts. The purpose of this paper is to address this issue, through the design and analysis of two novel reconfigurable fixturing robots.Design/methodology/approach – Following an introduction, the application of the reconfigurable fixturing robot addressed in this paper is described; it is characterized by using parallel manipulator as programmable fixture elements. Kinematic design and reconfigurable design of the fixturing robot is presented based on screw theory and modularized design, respectively.Findings – The proposed reconfigurable fixturing robots can transform their configurations with 4 DoF (degrees‐of‐freedom), and ...
EFFECT OF SAMPLE PREPARATION ON WATER TREE RESISTANCE OF XLPE/SEBS BLENDS
The effects of an aromatic polymer, such as poly[styrene-b-(ethylene-co-butylene)b-styrene] (SEBS), and its preparation processes on water tree resistance, morphology, crystallinity, dielectric constant and dielectric loss tangent of crosslinked polyethylene (XLPE)/SEBS and XLPE/SEBS/ethylene vinyl acetate (EVA) blends were investigated. The XLPE/SEBS samples were characterized by means of differential scanning calorimetry, scanning electron microscopy, dielectric spectral analysis and the accelerated water treeing experiment. The results clearly showed that although SEBS was partially compatible with LDPE and it was dispersed evenly in XLPE matrix, the blends demonstrated excellent dielectric performances, such as dielectric constant and dissipation factor. The crystallinity of XLPE/SEBS blends was decreased with increase in SEBS content and it was further decreased with the addition of EVA. SEBS could effectively improve the water-tree resistance of XLPE and both SEBS and EVA were found to improve the water tree resistance of XLPE synergistically as expected. The differences in sample preparation processes could change the phase morphology and dielectric performance of the blends, and could also influence the dispersion of SEBS in XLPE matrix as well as the crystallinity of the blends. Different preparation processes led to different water tree resistance behaviours of the samples. The improvement of SEBS dispersion in XLPE matrix helped to improve the water tree resistance of XLPE.