Problem
Research questions and friction points this paper is trying to address.
robotic welding
umbilical cable
dynamic influence
robot motion
actuation forces
Dynamic Modeling of a Welding Torch Umbilical and Its Impact on Robot Dynamics
🤖 AI Summary
本文针对焊接机器人脐带线对机器人运动的影响问题，提出了一种约束多体动力学模型，并通过将动力学投影到允许速度子空间来简化方程。
📝 Abstract
Robotic welding is widely used in industrial manufacturing, where the welding torch is often connected to the generator through an external umbilical. With the increasing deployment of lightweight and collaborative robots, the dynamic influence of this umbilical can significantly affect the robot motion and the actuation forces. This paper proposes a constrained multibody dynamic model of a welding umbilical, represented as a serial chain of rigid bodies interconnected by passive joints with elastic and dissipative effects. Prescribed motions at the distal anchor point are introduced through holonomic kinematic constraints. The equations of motion are reduced by projecting the dynamics onto the subspace of admissible velocities, yielding an efficient formulation free of Lagrange multipliers. The reaction wrench exerted by the umbilical on the robot is explicitly recovered. A planar case study illustrates the approach.
Innovation
Methods, ideas, or system contributions that make the work stand out.
constrained multibody dynamic model
holonomic kinematic constraints
subspace of admissible velocities
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