Skip to main content
SpringerLink
Log in

Study on the Rigid-Flexible Coupling Dynamics of Welding Robot

  • Published:
Wireless Personal Communications Aims and scope Submit manuscript

Abstract

The flexible factors in the large structure machine with large-scale movement make the rigid-flexible coupling become the key problem of research. Past research mostly focus on the flexibility of the link, ignoring the impact of joint flexibility. Through the dynamic analysis of simplified 3-link structure in space, different stiffness coefficients of flexible joint are given, and motion trajectory of robot’s is observed, comparing the displacement of joint under rigid state. The Lagrange method is used to deduce the rigid-flexible coupling dynamic equation which takes the gravity term into consideration. By comparing the dynamic simulation results of ADAMS with those in the rigid state, it shows that the flexible joint has an impact on the movement of the system. Vibration amplitude of different stiffness coefficient is different, and the associated vibration exists between each other. The motion response of the system is relatively large and motion error varies along with the movement path in X, Y and Z, which lay the foundation for the research of control system.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13

Similar content being viewed by others

References

  1. Spong, M. W. (1987). Modeling and control of elastic joint robots. ASME Journal of Dynamic Systems, Measurement, and Control, 109(4), 310–319.

    Article  MATH  Google Scholar 

  2. Yang, Y., Rong, J., Li, J., et al. (2013). Research on flexible joint stiffness test and trajectory planning of space manipulator. Advances in Mechanical Engineering, 2013(3), 1–7.

    MathSciNet  Google Scholar 

  3. Ulrich, S., Sasiadek, J. Z., & Barkana, I. (2014). Nonlinear adaptive output feedback control of flexible-joint space manipulators with joint stiffness uncertainties. Journal of Guidance, Control and Dynamics, 37(6), 1961–1975.

    Article  Google Scholar 

  4. Zhou, J., & Yu, Y. (2011). Dynamic parameter identification of modular robot with flexible joints. Robot, 33(4), 440–448.

    Article  Google Scholar 

  5. Wang, H., Fu, B., Xue, B., et al. (2016). Dynamic analysis of 6-DOF manipulators with flexible joints. Chinese Journal of Mechanical Engineering, 27(8), 1096–1101.

    Google Scholar 

  6. Pan, X., Shen, H., L, Li, et al. (2013). Optimization analysis of 6-DOF industrial robot based on joint damping. Journal of Machine Design, 30(9), 15–18.

    Google Scholar 

  7. Zhang, C., & Yu, Y. (2003). Dynamic modeling of robot arm with joint and link flexibility manipulating a constrained object. Chinese Journal of Mechanical Engineering, 39(6), 9–12.

    Article  Google Scholar 

  8. Zhao, X. (2013). Research on structure optimization of heavy load industrial robot with joint flexibility considered. Harbin: Harbin Institute of Technology.

    Google Scholar 

  9. Qian, W. (2016). Structure design and 11 trajectory control of high speed robot loading 1 kilogram. Hefei: Hefei University of Technology.

    Google Scholar 

  10. Liu, G., Wu, X., Chen, Y., et al. (2014). Analysis of influences of end position mass and joint rotary inertia on motion stability of a flexible manipulator arm. Chinese Journal of Mechanical Engineering, 25(4), 480–485.

    Google Scholar 

Download references

Funding

Special funds for basic scientific research services for central colleges and universities (2011YJ01).

Author information

Authors and Affiliations

  1. School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China

    Na Liu, Xiangyu Zhang, Lin Zhang, Deyong Shang & Xun Fan

Authors
  1. Na Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xiangyu Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Lin Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Deyong Shang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Xun Fan
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Na Liu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Liu, N., Zhang, X., Zhang, L. et al. Study on the Rigid-Flexible Coupling Dynamics of Welding Robot. Wireless Pers Commun 102, 1683–1694 (2018). https://doi.org/10.1007/s11277-017-5227-7

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11277-017-5227-7

Keywords

Search

Navigation