Rigidity-Flexibility Coupling Motion Simulation of the Open Arc Welding Robot in ADAMS

摘要

Considering the effects of mechanism's elastic deformations on the welding quality, this paper builds a rigidity-flexibility coupling parameterized virtual model of an open arc welding robot in ADAMS. Using this method, we can obtain the robot dynamic characters in welding process that approach the real value at utmost. The results show it is an effective way for improving the robot kinematics accuracy and design quality, including simplicity (no need to solve complex mathematic model) and high accuracy which make it highly promising for application.