In national economy and national defense, a lot of ma chine components become worthless early because of wear and tear and corrode. It leads to huge loss of resource and material. Surface hardening of the steel cou ld...In national economy and national defense, a lot of ma chine components become worthless early because of wear and tear and corrode. It leads to huge loss of resource and material. Surface hardening of the steel cou ld form a hard, wearable, corrode-resisting layer on the surface to enhance the mechanical property of the machine component. From 1980s, there is a new method of surface hardening that is heating with plasma arc. It overcomes the shortage of old methods and is adopted in automotive product industry. The plasma equipm ent is small and easy to be controlled, so it could be installed on a robot and moved everywhere. This paper analyzed the character of the plasma at first, then studied the plasm a arc as Guess distribution circular heat source to create the surface hardening temperature field and heating process. The method of the plasma arc surface har dening technology is given. This paper describes hardware design of the plasma arc surface-hardening robot and analyzes its kinematics. This robot is a humanoid form robot with a mobile p latform, a 7 DOF redundancy arm and a 2 DOF trunk. The footprint is an important feature for the robot that has to move in a cluttered environment. Thus the mob ile platform of the plasma arc robot is an omni-directional mobile robot with o rthogonal-wheel assemblies. The trunk is important for keep balance of the robo t. Thus a series spring is fixed in the trunk to provide accurate force feedback at each direction and insulate the shock loads from arm and mobile platform. Th e redundancy arm configuration is similar to a broadly simplified model of the h uman arm with 7 DOF. The maximum radius is about 1 m with a maximum load of abou t 1 kg. The redundancy of the 7 DOF allows the handling of situation in whic h additional movement constraints have to meet and avoids static or dynamic obst acles. It has better adaptation to typical human environment and to allow for hu man-like behavioral strategies in solving complex tasks. This robot will be applied widely in shipbuilding industry, mining industry and automotive product industry.展开更多
文摘In national economy and national defense, a lot of ma chine components become worthless early because of wear and tear and corrode. It leads to huge loss of resource and material. Surface hardening of the steel cou ld form a hard, wearable, corrode-resisting layer on the surface to enhance the mechanical property of the machine component. From 1980s, there is a new method of surface hardening that is heating with plasma arc. It overcomes the shortage of old methods and is adopted in automotive product industry. The plasma equipm ent is small and easy to be controlled, so it could be installed on a robot and moved everywhere. This paper analyzed the character of the plasma at first, then studied the plasm a arc as Guess distribution circular heat source to create the surface hardening temperature field and heating process. The method of the plasma arc surface har dening technology is given. This paper describes hardware design of the plasma arc surface-hardening robot and analyzes its kinematics. This robot is a humanoid form robot with a mobile p latform, a 7 DOF redundancy arm and a 2 DOF trunk. The footprint is an important feature for the robot that has to move in a cluttered environment. Thus the mob ile platform of the plasma arc robot is an omni-directional mobile robot with o rthogonal-wheel assemblies. The trunk is important for keep balance of the robo t. Thus a series spring is fixed in the trunk to provide accurate force feedback at each direction and insulate the shock loads from arm and mobile platform. Th e redundancy arm configuration is similar to a broadly simplified model of the h uman arm with 7 DOF. The maximum radius is about 1 m with a maximum load of abou t 1 kg. The redundancy of the 7 DOF allows the handling of situation in whic h additional movement constraints have to meet and avoids static or dynamic obst acles. It has better adaptation to typical human environment and to allow for hu man-like behavioral strategies in solving complex tasks. This robot will be applied widely in shipbuilding industry, mining industry and automotive product industry.
