Planning and simulation of the trajectory of a robot with 6 degrees of freedom for mig type welding of cylindrical tanks

Authors

DOI:

https://doi.org/10.31381/perfilesingenieria.v18i18.5407

Keywords:

MIG, trajectory, manipulator, interpolation, welding

Abstract

The current work focuses on the modeling of an Anthropomorphic robot with 6 degrees of freedom and its subsequent kinematic control for Metal Inert Gas (MIG) welding of cylindrical fermentation tanks. This robot has 4 links and 6 joints, three of them for the positioning of the arm and the others for the orientation of the wrist. Using SolidWorks program, the robot was designed considering the workspace and the standard measurement of cylinder tanks. The robot performs circular welding for the lid or base of a tank with a diameter of 1100 mm. The path points were predetermined by the designer and the user defines the sampling points for polynomial interpolation in order to make a smooth and controlled tracking of the robot manipulator welding path. The proposal and simulation of the project will allow carrying out and planning future work in which these automated welding techniques are used not only in tanks but also in manufacturing of elements from machines more complex inside of food industries like axle and idler welding for conveyor machines at the metalworking Trujillo Industry.

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Author Biographies

Paul Oscar Ramírez Zamudio, Universidad Nacional de Trujillo, Perú.

Graduated from the School of Mechatronic Engineering at the National University of Trujillo. Knowledge in topics related to Robotics, Automation and Control.

Juan Diego Sánchez Agreda, Universidad Nacional de Trujillo, Perú.

Graduated from the School of Mechatronic Engineering at the National University of Trujillo. Specialized in mechanical design within the food industry. Expert in design in SolidWorks Professional software.

Ricardo Palomares Orihuela, Universidad Nacional de Trujillo, Perú.

Mechatronics Engineer from the National University of Engineering, PhD in Educational Sciences, Master in Educational Sciences with a mention in University Teaching and a Master in Electronic Sciences with a mention in Biomedical Engineering. Professor at the Professional School of Mechatronics Engineering at the National University of Trujillo and Ricardo Palma University. Senior Member IEEE. Professional Member of RAS, EMBS, ComSoc and EduSoc - IEEE. Researcher at RENACYT – Carlos Monge IV Group.

References

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Perfiles de Ingenieria v18n18

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Published

2022-12-30

How to Cite

Ramírez Zamudio, P. O., Sánchez Agreda, J. D., & Palomares Orihuela, R. (2022). Planning and simulation of the trajectory of a robot with 6 degrees of freedom for mig type welding of cylindrical tanks. Engineering Profiles, 18(18), 171–190. https://doi.org/10.31381/perfilesingenieria.v18i18.5407

Issue

Vol. 18 No. 18 (2022): Perfiles de Ingeniería

Section

Ingeniería Mecatrónica

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