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Dynamic Analysis of a Novel Hybrid Robot for Arc Welding Process

Mohammadipanah, Hossein | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40313 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. This thesis presented kinematic and dynamic analysis of a novel 8-DOF hybrid manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOFs, and the serial mechanism has five DOFs, so that the overall degrees of freedom are eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions of the manipulator were described in closed form. The theoretical results were verified by a numerical example. Inverse dynamic analysis of the robot was presented by utilizing the Iterative Newton-Euler and the Lagrange dynamic formulation methods simultaneously. Finally, for performing a multi-step arc welding process, results indicated that the introduced manipulator is highly capable of reducing the actuating energy. Also, Genetic Algorithm optimization was applied to design the optimal trajectory to minimize the jerk of the moving platform of parallel robot. In each step of optimization, total consumption energy by actuators was calculated. Result presented the concerning between the jerk minimization and the consumption energy by actuators
  9. Keywords:
  10. Welding ; Dynamic Analysis ; Optimization ; Genetic Algorithm ; Hybrid Robot ; Actuating Energy ; Jerc

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