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Mechanism Design and Kinematics Modeling of Irregular Cross-Section Pipeline Welding Robot

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Robotic Welding, Intelligence and Automation

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 88))

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Abstract

An irregular cross-section pipeline welding robot is designed according to the current situation for irregular cross-section pipelines welding. The robot kinematic model is built based on the D-H rule, MATLAB simulation is used to verify the correctness of the model. The accurate movement of each joint is ensured and the foundation is laid for the future control study.

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Author information

Authors and Affiliations

  1. School of Mechatronics Engineering, China University of Petroleum, Beijing, 102249, China

    Xinghua Tao & Hongwu Zhu

  2. SINOPEC Research Institute of Petroleum Engineering, Beijing, 100101, China

    Xinghua Tao

  3. School of Mechatronics Engineering of Beijing University of Chemical Technology, Beijing, 100029, China

    Lili Xu

Authors
  1. Xinghua Tao
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  2. Hongwu Zhu
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  3. Lili Xu
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Editor information

Editors and Affiliations

  1. Washington University, Cupples 2, Room 103, Campus Box 1040, 63130, St. Louis, Missouri, USA

    Tzyh-Jong Tarn

  2. Intelligentized Robotic Welding Technology Laboratory, School of Materials Sci. and Engg, 800 Dongchuan Road, 200240, Shanghai, P.R. China

    Shan-Ben Chen

  3. School of Engineering, University of Western Sydney, Locked Bag 1797, 1797, NSW, Australia

    Gu Fang

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© 2011 Springer-Verlag Berlin Heidelberg

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Tao, X., Zhu, H., Xu, L. (2011). Mechanism Design and Kinematics Modeling of Irregular Cross-Section Pipeline Welding Robot. In: Tarn, TJ., Chen, SB., Fang, G. (eds) Robotic Welding, Intelligence and Automation. Lecture Notes in Electrical Engineering, vol 88. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19959-2_8

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  • DOI: https://doi.org/10.1007/978-3-642-19959-2_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-19958-5

  • Online ISBN: 978-3-642-19959-2

  • eBook Packages: EngineeringEngineering (R0)

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