Planeación y simulación de trayectoria de un robot de 6 grados de libertad para soldadura tipo MIG de tanques cilíndricos

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.