He Zhongyun,Lu Bingheng,Zhu Dongbo,Wang Yiqing,Hong Jun
(School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,¡¡China)
Abstract:A creative robot wrist consisting of link mechanisms and a novel robot motion control method based on cross-sectional vector contours of STL-formatted model was proposed.By using the wrist and the control method,an industrial robot of five degrees of freedom for rapid tooling by using metal arc spraying and electric brush plating techniques was developed.The wrist of the robot including a special designed link mechanism can maintain the position of the spraying point on the surface of the master pattern whatever alternating the orientation of the gun£® Therefore the kinematic nonlinear coupling between the position mechanism and orientation mechanism of traditional robot can be avoided.The only input of the control system is the STL-formatted 3D CAD model of the pattern.Without any manual programming,the metal arc spraying and brush plating (if necessary)processes can be performed automatically and efficiently after receiving the 3D CAD data of the pattern.Using this robot system in new car development and trial production,the cost and lead-time can be reduced substantially as compared with the conventional tool making method£®
Keywords:automobile body panel dies;metal arc spraying robot;wrist mechanism;motion control