원문정보
초록
영어
Developing a clamping device fixed directly on a multi-degree of freedom robot manipulator to solve the problem of easy deformation of sheet metal plates in three dimensions free curve is still very challenging. This work describes the conceptual design, the mechanical design, and the design of control system of a new clamping device for the free curve welding. The basic function of the clamping device is to provide a stable and adjustable mechanical pressure which is generated by a compressed conventional spring to a sheet plate in the welding process. Following the concept design stage, the mechanical design is performed, aimed at effectively controlling the deformation of sheet metal and eliminating the gap between the plates in the welding process. Finally, the control methodology is put forward. Thanks to the proposed modular construction and the use of a conventional spring, the device shows good performances. The developed clamping device can also be extended to other applications in surface manufacturing such as spray painting on space free curve.
목차
1. Introduction
2. Conceptual Design
3. Mechanical Design
3.1 Mechanical Structure
3.2 Spring Device Design
4. Control Methodology
5. Conclusion
ACKNOWLEDGEMENTS
References