自走式自動銲接機械臂之研究

• Main Author: 李韋鴻
• Other Authors: 董必正
• Format: Others
• Language: en_US
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/79299630072054476191

碩士 === 國立中央大學 === 機械工程研究所 === 88 === The objective of this study is to develop an automatic mobile robot to substitute the manual operation for welding under hazardous environments. The welding system includes a five-axis robot, welding machine, a car, and welding controller. The robot whose end effector holds a weld electrode is mounted on an automatic mobile car to enter the dangerous region for operation. First, we use a PC-Based controller to control SCORBOT-ER VII robot. Then we use a 2020 decoder circuit to decode the angel signal from encoder. Using current sensor to get welding current feedback signal we can control the robot to welding. The controller is including a PC, current amplifier, A/D converter, D/A converter, and digital I/O. We can get the joint angle by solving inverse manipulator kinematics equations. Finally, we design a welding controller to control the auto-welding system.