摘要
介绍了一种基于旋转电弧传感的新型轮式焊接机器人系统 ,机构上前轮采用步进电机转向 ,后轮由交流伺服电机驱动 ,左右与上下十字滑块用两个直流伺服电机控制 ,这 4个电机用一 4轴驱动运动控制器进行驱动控制 ,大大提高了集成度与控制效率 ,目前是一种新型的焊接自动化装备 .
A new wheeled mobile welding robot based on rotating arc sensor is presented. The front wheels are used to veer and are controlled by step motor, and the near wheels are used to drive and are controlled by AC servo motor. The cross slider is controlled by DC servo motor. These four motors are controlled by a four axis motion controller. The integration grade and control efficiency are improved greatly, and at the present time it is a new automatic welding equipment.
出处
《机器人》
EI
CSCD
北大核心
2003年第6期536-538,553,共4页
Robot
基金
国家自然科学基金资助 (50 0 750 37)
国家 863项目资助 (2 0 0 1AA42 2 2 2 0 )
