张华, 王海东, 徐健宁, 谷争时. 基于旋转电弧传感的新型轮式自主移动焊接机器人系统[J]. 机器人, 2003, 25(6): 536-538,553..
ZHANG Hua, WANG Hai-dong, XU Jian-ning, GU Zheng-shi. A NEW WHEELED AUTONOMOUS MOBILE WELDING ROBOT SYSTEM BASED ON ROTATING ARC SENSOR. ROBOT, 2003, 25(6): 536-538,553..
Abstract：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.
[1] 林尚扬等.焊接机器人及其应用[M].北京:机械工业出版社,2000. [2] J B Wang,Z C Sun M.Intelligent wheeled mobile robot for spherica tank welding[A].Mobile Robot XVI,SPIE[C].Vol.4573 245-255. [3] 潘际銮.现代弧焊控制[M].北京:机械工业出版社,2000. [4] 费跃农.电弧传感器焊缝自动跟踪系统及电弧传感基础理论研究[D].清华大学:博士论文,1990. [5] 熊震宇.旋转电弧传感弧焊机器人焊缝纠偏智能控制系统[D].南昌大学:博士学位论文,2000.5.
