Mechanism Design and Kinematics Modeling of Irregular Cross-Section Pipeline Welding Robot

机译：不规则横截面管道焊接机构的机制设计和运动学建模

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An irregular cross-section pipeline welding robot is designed according to the current situation for irregular cross-section pipelines welding. The robot kinematic model is built based on the D-H rule, MATLAB simulation is used to verify the correctness of the model. The accurate movement of each joint is ensured and the foundation is laid for the future control study.

机译：不规则的横截面管道焊接机器人根据目前的情况设计，以实现不规则的横截面管道焊接。机器人运动模型是基于D-H规则构建的，MATLAB仿真用于验证模型的正确性。确保每个接头的精确运动，并为未来的对照研究奠定了基础。

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《International conference on robotic welding, intelligence and automation》|2011年||共8页
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Xinghua Tao; Hongwu Zhu; Lili Xu;
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中图分类焊接自动化技术;
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Mechanism Design and Kinematics Modeling of Irregular Cross-Section Pipeline Welding Robot

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