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Comparison of Robot Morphologies and Base Positioning for Welding Applications by Gautier, Nicolas; Guillermit, Yves; Sebsadji, Yazid; Porez, Mathieu; Chablat, Damien is a scholarly article available to read on EtoBox.

What is Comparison of Robot Morphologies and Base Positioning for Welding Applications about?

This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis is to assess their respective performances within the specialized domain of welding, focusing on predefined industrial application scenarios. These scenarios encompass a range of geometrical components earmarked for welding, along with specified welding paths, spatial constraints, and welding methodologies reflective of real-world scenarios encountered by manual welders. The case studies presented in this research serve as illustrative examples of Weez-U Welding practices, providing insights into the practical implications of employing different robot morphologies. Moreover, this study distinguishes between various base positions for the robot, thereby aiding welders in selecting the optimal base placement aligned with their specific welding objectives. By offering such insights, this research facilitates the selection of the most suitable architecture for this particular range of trajectories, thus optimizing welding efficiency and effectiveness.

Author

Gautier, Nicolas; Guillermit, Yves; Sebsadji, Yazid; Porez, Mathieu; Chablat, Damien

Published

2024

Language

EN