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Recent Advances in Mechanism Design for Robotics pp 65–75Cite as

Design and Characterization of a New 5-DOF Arc Welding Robot

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 33))

Abstract

In this paper, a new 5-DOF arc welding robot is presented from aspects of mechanical design, control system and handheld welding teaching (HWT) method. Structure of this robot is inspired by selective compliance assembly robot arm (SCARA). With the aim to achieve HWT, magnet-clutches and encoders are adopted into the transmission chains which have large reduction ratio. In addition, a gravity balance mechanism is developed to reduce the load of operators. The processing of HWT operation is presented with optimal space arc interpolation algorithm. Two main design characteristics of this robot are low cost and easy operation features as compared to conventional 6-DOF industrial robots. Finally, experiments are discussed as from testing the welding performance and reported results validate the efficiency of the proposed solution.

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Acknowledgments

The presented results are obtained within a project (No. BY2014048) under the support of Jiangsu Prospective Joint Research Project.

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Authors and Affiliations

  1. Hefei Institute of Physical Science Chinese Academy of Sciences, Institute of Advanced Manufacturing Technology, Hefei, China

    T. Li, F. Y. Guo, M. Z. Luo, X. Liu, S. X. Chen & L. Fu

  2. University of Science and Technology of China, Hefei, China

    F. Y. Guo

  3. University of Cassino and South Latium, Cassino, Italy

    M. Ceccarelli

Authors
  1. T. Li
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  2. F. Y. Guo
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  3. M. Z. Luo
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  4. M. Ceccarelli
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  5. X. Liu
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  6. S. X. Chen
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  7. L. Fu
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Corresponding author

Correspondence to T. Li .

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Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Shaoping Bai

  2. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

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© 2015 Springer International Publishing Switzerland

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Li, T. et al. (2015). Design and Characterization of a New 5-DOF Arc Welding Robot. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_7

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  • DOI: https://doi.org/10.1007/978-3-319-18126-4_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18125-7

  • Online ISBN: 978-3-319-18126-4

  • eBook Packages: EngineeringEngineering (R0)

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