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A study on simulation model and kinematic model of welding robot

Jeong, J.W. and Kim, I.S. and Chand, Reenal R. and Lee, J.H. (2012) A study on simulation model and kinematic model of welding robot. Journal of Achievement in Materials and Manufacturing Engineering, 55 (1). pp. 1-8. ISSN 1734-8412

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    Abstract

    Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-platform PLM/CAD/CAM/CAE commercial software suite to use to develop six degree freedom for Faraman AM1 welding robot. The forward kinematic and inverse kinematic equations are also used to verify the developed model. Findings: The results obtained from the six degree freedom for Faraman AM1 simulated model has a good agreement with computed kinematic models equations. The catia V5 a very powerful tool which could used in develope a simulation for robotic welding system. The the angle error between simulated model and computed inverse kinmenatic equation obtained too very small. Research limitations/implications: The developed simulated in Catia is mainly aimed to be used in GMA welding process. D-H (Denavit-Hartenberg) convection is used to determine the orthonormal coordinate frames at different joints of a robotic manipulator and determining four kinematic parameters. Originality/value: The six degree freedom for Faraman AM1 welding robot is model to analysed and compared with forward and inverse knimatic.

    Item Type: Journal Article
    Subjects: T Technology > TJ Mechanical engineering and machinery
    T Technology > TS Manufactures
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
    Depositing User: Ronal Chand
    Date Deposited: 27 Aug 2013 13:02
    Last Modified: 01 Aug 2016 11:07
    URI: http://repository.usp.ac.fj/id/eprint/6455
    UNSPECIFIED

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