Abstract
Abstract Robot end-effector welding tools typically have complex three-dimensional geometry. In the design of these tools, the dynamics are often neglected because of the difficulty of calculating the moment of inertia. Many robots are unwittingly overloaded in production due to this neglect, at considerable financial loss to the manufacturer. This work presents a technique for calculating inertias of welding guns with relative ease. An example of the inertial modeling of a weld gun is presented utilizing software designed to simplify this complex procedure.
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