麻豆精品视频在线_韩国三级av_亚洲一区中文_涩涩的网址_91极品尤物_日本猛少妇色xxxxx_在线性视频_亚洲第一综合_大牛影视剧免费播放在线_被触手肉干高h潮文

Collaborative Welding Robot Base Vibration Model

• 1、China 22MCC Group Corporation Ltd.

Abstract：When collaborative welding robots move and operate in complex working conditions, uneven ground or vertical vibrations generated by their own motion can seriously affect their welding accuracy and stability. To address this issue, this paper proposes a permanent magnet base integrated into the base of a collaborative welding robot and conducts in-depth research on its restoring force model. This device utilizes the repulsion between permanent magnets and the tension of supporting springs in parallel to achieve quasi zero stiffness near the working point, effectively suppressing vertical vibration. Firstly, the structural design and working principle of the vibration reduction cylinder were explained. Secondly, based on electromagnetic theory, the calculation formulas for the magnetic density and repulsion of permanent magnet air gaps were derived, and combined with spring mechanics, a complete constitutive model for restoring force was established. This study provides a solution and theoretical basis for improving the stability of collaborative welding robots in dynamic operations.

Keywords： welding technology and engineering collaborative welding robot restoring force model permanent magnet base