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 ...
Fixture workspace synthesis for reconfigurable assembly using procrustes-based pairwise configuration optimization
In recent years, reconfigurability of assembly systems, which enables a family of products to be produced on a single production line, is becoming of paramount importance in addressing increasing diversification of the market. One of the key issues in reconfigurable assembly systems is to identify the fixture workspace for a family of parts based on the individual configuration of the fixture-locating layout for each part. Aimed at the problems existing in the current research in this area, this paper presents an approach that allocates the best superposition of locating layouts for multiple parts to be assembled on a single reconfigurable fixture. The presented methodology is based on (1) analytical Procrustes analysis, to rapidly eliminate unlikely sets of solutions, and then (2) pairwise optimization of fixture configurations for a given part family. The proposed method is able to provide more accurate solutions for various Engineering Requirement Functions (ERFs) used in industrial practice with much less computational complexity than the existing method presented in the literature. Comprehensive case studies illustrate the proposed methodology as well as its advantages over the existing method.