Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of...Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.展开更多
This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model...This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.展开更多
A robot flexible processing system of shipbuilding profile steel was developed. The system consists of computer integrated control and robot. An off line programming robot was used for marking and cutting of shipbuil...A robot flexible processing system of shipbuilding profile steel was developed. The system consists of computer integrated control and robot. An off line programming robot was used for marking and cutting of shipbuilding profile steel. In the system the deformation and position error of profile steel can be detected by precise sensors, and figure position coordinate error resulted from profile steel deformation can be compensated by modifying traveling track of robotic arm online. The practical operation results show that the system performance can meet the needs of profile steel processing.展开更多
To solve the constraints of multi-objective optimization of the driver system and high nonlinear problems, according to the relevant dimensions of a car, we build a simulation model with Hybrid Ⅲ 50th dummy driver co...To solve the constraints of multi-objective optimization of the driver system and high nonlinear problems, according to the relevant dimensions of a car, we build a simulation model with Hybrid Ⅲ 50th dummy driver constraint system. The comparison of the driver mechanics index of the experimental data with the simulation data in the frontal crash shows that the accuracy of simulation model meets the requirements. The optimal Latin test design is adopted, and the global sensitivity analysis of the design parameters is carried out based on the Kriging model. The four most sensitive parameters are selected, and the parameters are solved by a multi-island genetic algorithm.And then the nonlinear programming quadratic line(NLPQL) algorithm is used to search for accurate optimization. The optimal parameters of the occupant restraint system are determined: the limiting force value of force limiter 2 985.603 N, belt extension 12.684%, airbag point explosion time 27.585 ms, and airbag vent diameter 27.338 mm, with the weighted injury criterion(WIC) decreased by 12.97%, the head injury decreased by 22.60%, and the chest compression decreased by 7.29%. The results show that the system integration of passive safety devices such as seat belts and airbags can effectively protect the driver.展开更多
基金ThispaperissupportedbyNationalNatureScienceFoundation (No .5 96 35 16 0 )AdvancedUniversityDoctoralSubjectFoundation (No .980 2 1311)
文摘Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.
文摘This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.
文摘A robot flexible processing system of shipbuilding profile steel was developed. The system consists of computer integrated control and robot. An off line programming robot was used for marking and cutting of shipbuilding profile steel. In the system the deformation and position error of profile steel can be detected by precise sensors, and figure position coordinate error resulted from profile steel deformation can be compensated by modifying traveling track of robotic arm online. The practical operation results show that the system performance can meet the needs of profile steel processing.
基金Supported by Natural Science and Technology Research Project of the Jiangxi Education Department(GJJ202002, GJJ2202620)。
文摘To solve the constraints of multi-objective optimization of the driver system and high nonlinear problems, according to the relevant dimensions of a car, we build a simulation model with Hybrid Ⅲ 50th dummy driver constraint system. The comparison of the driver mechanics index of the experimental data with the simulation data in the frontal crash shows that the accuracy of simulation model meets the requirements. The optimal Latin test design is adopted, and the global sensitivity analysis of the design parameters is carried out based on the Kriging model. The four most sensitive parameters are selected, and the parameters are solved by a multi-island genetic algorithm.And then the nonlinear programming quadratic line(NLPQL) algorithm is used to search for accurate optimization. The optimal parameters of the occupant restraint system are determined: the limiting force value of force limiter 2 985.603 N, belt extension 12.684%, airbag point explosion time 27.585 ms, and airbag vent diameter 27.338 mm, with the weighted injury criterion(WIC) decreased by 12.97%, the head injury decreased by 22.60%, and the chest compression decreased by 7.29%. The results show that the system integration of passive safety devices such as seat belts and airbags can effectively protect the driver.
