Pose algorithm and assembly system development on complex joints of steel structure
Pose algorithm and assembly system development on complex joints of steel structure
- Author(s): J.J. Shou ; Z.Y. Zhou ; S. Mou ; Z.P. Chen ; Q.Q. Zhou ; R. Liu
- DOI: 10.1049/cp.2015.1523
For access to this article, please select a purchase option:
Buy conference paper PDF
Buy Knowledge Pack
IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.
Fifth Asia International Symposium on Mechatronics (AISM 2015) — Recommend this title to your library
Thank you
Your recommendation has been sent to your librarian.
- DOI: 10.1049/cp.2015.1523
- ISBN: 978-1-78561-036-3
- Location: Guilin, China
- Conference date: 7-10 Oct. 2015
- Format: PDF
According to the characteristics of a new type of complex joint in the space steel structure, one model of automatic assembly system with 6-DOF was designed. Base on Denavit-Hartenberg method and matrix inverse operation principle, the positive and forward kinematics algorithm of an assembly machine is proposed and the main parameters of pose algorithm are calculated. The automatic assembly machine was designed, and its structure and principle of operation strategy was elaborated.By the control method of point to point, experimental data are obtained and then are compared with the theoretical data. The results show that this pose algorithm and its assembly control strategy is available. The maximum deviation of the rotating joint is 0.11 degrees and the maximum deviation of transfer joint is 0.1mm, which can meet the assembly demand in practice.
Inspec keywords: construction equipment; steel; assembling; matrix algebra; structural engineering
Subjects: Construction industry; Control applications in assembling; Control applications in building and civil engineering; Production equipment; General shapes and structures; Algebra; Assembling; Algebra
Related content
content/conferences/10.1049/cp.2015.1523
pub_keyword,iet_inspecKeyword,pub_concept
6
6