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Dynamic characteristics analysis of two-beam laser welding robot for fuselage panels

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Abstract

Industrial robotics is becoming increasingly popular in the field of manufacturing automation. Two-beam laser welding robot is a proprietary industrial robot of great importance to improve the welding quality of stringer-skin T-shape structures. In the process of two-beam laser cooperative welding, the robot constantly adjusts its own posture, and the position and posture of each joint would change simultaneously, which leads to the change of the natural frequency, and other dynamic characteristics of the welding robot. Based on the finite element method (FEM), the modal analysis of the robot joints in the range of motion ability and the range of motion in the process of two-beam laser welding are studied, which can provide the basis for the design and accurate control of the robot with a high degree of freedom (DOF). The dynamic characteristics of the whole robot in different positions and attitudes are carried out, which includes two parts. One is the importance ranking of 18 joints of the robot through an orthogonal test according to the range of motion of each joint. The other is obtaining a plurality of time points in one welding cycle, and performing a modal analysis of the robot at each time point on the basis of the robot joints in the range of motion during the process of two-beam laser welding, the optimal number of time nodes are attained and the test workload could be reduced. The approach described herein provides a theoretical basis for robotics design and control optimization.

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The datasets used or analyzed during the current study are available from the corresponding author on reasonable request.

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Funding

This work is supported by the National Key R&D Program of China (2018YFB1700902).

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Authors and Affiliations

  1. School of Mechanical Engineering, Tongji University, Shanghai, 201804, China

    Qingfei Zeng, Xuemei Liu, Ziru Liu & Aiping Li

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  1. Qingfei Zeng
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  2. Xuemei Liu
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Qingfei Zeng wrote the first draft of the paper. All authors revised and approved the final version of the manuscript.

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Correspondence to Xuemei Liu.

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Zeng, Q., Liu, X., Liu, Z. et al. Dynamic characteristics analysis of two-beam laser welding robot for fuselage panels. Int J Adv Manuf Technol 121, 7463–7474 (2022). https://doi.org/10.1007/s00170-022-09620-3

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