The manufacturing of the X-shaped tip of prestressed centrifugal concrete piles is nowadays done half automatically by combining the manual worker and the automatic welding robot. To make this welding process full automatically, the welding seam tracking algorithm is considered. There are many types of sensors that can be used to detect the welding seam such as vision sensor, laser vision sensor, arc sensor, or touch sensor. Each type of sensor has its advantages and disadvantages. In this paper, an algorithm for welding seam tracking using laser distance sensor is proposed. Firstly, the fundamental mathematics theory of the algorithm is presented. Next, the positioning table system supports the procedure is designed and manufactured. The object of this research is the fillet joint because of the characteristics of the X-shaped tip of the concrete piles. This paper proposes a new method to determine the welding trajectory of the tip using laser distance sensor. After that, the experimental results are received to verify the proposed idea. Finally, the improved proposal of the algorithm is considered to increase the accuracy of the suggested algorithm.
Multibody dynamics methodologies have been fundamental tools utilized to model and simulate robotic systems that experience contact conditions with the surrounding environment, such as in the case of feet and ground interactions. In addressing such problems, it is of paramount importance to accurately and efficiently handle the large body displacement associated with locomotion of robots, as well as the dynamic response related to contact-impact events. Thus, a generic computational approach, based on the Newton–Euler formulation, to represent the gross motion of robotic systems, is revisited in this work. The main kinematic and dynamic features, necessary to obtain the equations of motion, are discussed. A numerical procedure suitable to solve the equations of motion is also presented. The problem of modeling contacts in dynamical systems involves two main tasks, namely, the contact detection and the contact resolution, which take into account for the kinematics and dynamics of the contacting bodies, constituting the general framework for the process of modeling and simulating complex contact scenarios. In order to properly model the contact interactions, the contact kinematic properties are established based on the geometry of contacting bodies, which allow to perform the contact detection task. The contact dynamics is represented by continuous contact force models, both in terms of normal and tangential contact directions. Finally, the presented formulations are demonstrated by the application to several robotics systems that involve contact and impact events with surrounding environment. Special emphasis is put on the systems’ dynamic behavior, in terms of performance and stability.
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：