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.
Numerical Simulation of Induction Heating Process of Continuous Casting Slab
Compared with traditional blazing furnace, the Continuous Casting-Direct Rolling is an advanced manufacturing steel technology, which can reduce energy waste, decrease pollution and enhance efficiency. The characteristics of steels during induction heating are complex, the change of material properties with temperature makes exact analysis methods very difficult to implement. Therefore, a powerful computer aided numerical tool (i.e., finite difference analysis) is selected to numerically model the induction heating process in this paper. The mathematic model coupling with electromagnetic field and thermal field was established, and it was solved by finite difference method (FDM), thus the slab temperature distribution and its variation with time were obtained, and the characteristics in whole induction heating process were studied. To validate the program feasible, the results were evaluated and compared with experiment results, which showed that the simulation results are reliable and effective. The skin effect in heating process from the two results was studied and demonstrated, the temperature change caused by different parameters such as the induced power intensity and the corner radian were also presented, which indicate that the slab temperature can be heated uniformly through adjusting these parameters, thus the continuous casting slab can meet the rolling requirement.