| 基于旋转电弧传感的新型轮式自主移动焊接机器人系统 |
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| 引用本文： | 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 |
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| 作者姓名： | 张华 王海东 徐健宁 谷争时 |
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| 作者单位： | 南昌大学机器人与焊接自动化实验室,江西,南昌,330029 |
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| 基金项目： | 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 ) |
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| 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．
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| 关 键 词： | 旋转电弧传感 轮式机器人 运动控制器 |
| 文章编号： | 1002-0446(2003)06-0536-03 |
A NEW WHEELED AUTONOMOUS MOBILE WELDING ROBOT SYSTEM BASED ON ROTATING ARC SENSOR |
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| ZHANG Hua,WANG Hai dong,XU Jian ning,GU Zheng shi. A NEW WHEELED AUTONOMOUS MOBILE WELDING ROBOT SYSTEM BASED ON ROTATING ARC SENSOR[J]. Robot, 2003, 25(6): 536-538 |
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| Authors: | ZHANG Hua WANG Hai dong XU Jian ning GU Zheng shi |
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| 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. |
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| Keywords: | rotating arc sensor wheeled robot motion controller |
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