Abstract

A co-simulation on virtual prototype of a type of spot welding robot has been accomplished by combining MATLAB/Simulink with RecurDyn. The control algorithm is executed under MATLAB to generate command forces, which are then exported to RecurDyn environment and applied to actuators of the virtual prototype at each cycle of time. Dynamic control on joint angles was accomplished through the co-simulation. Torques of each joint and the velocity of the clamp end were also acquired by co-simulation, which can give useful information for optimizing robot design.

How Multibody Dynamics Simulation Technology is Used

A co-simulation with RecurDyn and Simulink was executed for dynamic control of a spot welding robot. Torques of each joint and the velocity of the clamp end from these simulations can provide useful information for optimizing robot design. New designs could be efficiently tested within RecurDyn without the need of a costly prototype.

Get This Paper

• http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5768738&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5768738

Related Case Studies

• Dynamic simulation and gravity balancing optimization of spot welding robot on RecurDyn
• Multidisciplinary parametric design and evaluation of six degrees of freedom mechanical arm
• Kinematics of the Robomec robot hand with planar and spherical four bar linkages for power grasping
• Parameter study on the grasping characteristics of the humanoid robot hand with spherical four bar linkages