Design and Simulation of a 2 DoF Robotic Arm for TIG Welding

摘要

The use of robotic arms provides a new approach to solve multiple problems in various applications in the industry and throughout the field of automation, taking into account the proper control so that the system does not present errors. This research presents the design and simulation of a 2 DoF robotic arm, which will be in charge of performing the TIG welding process through simulation, to optimize the working time and operator safety, it will also serve for the previous training, since the robotic arm simulates the activities that traditionally an operator does at the time of executing the welding process. The project was carried out in MATLAB software, parameters such as time, speed and optimal rotation of the dynamics of a planar robot arm were considered, according to the shapes of the parts to be welded. It was found that the optimal values of time and speed to weld the two parts presented in the project should be less than 5 mm/s in order to obtain a more accurate trajectory, otherwise the parts will be altered. The analysis of the speed of the parts showed that the lower the speed, the more accurate the trajectory of the robotic arm will be.