| In this paper, the coupled relationship of motion between arc-welding robot and positioner is analysed during the welding of spatial curve welding-line with respect to KR350/2 robot and RP2 positioner workstation. Kinematics equations of synchronous workstation of robot-positioner system are set in terms of Denavit-Hartenberg method and transformation of coordinate system, and the uncoupled kinematical model of robot-positioner system is also studied. Then, with regard to the requirement of running continuity of angle displacements of robot joints, the kinematics equations about welding robot and positioner system are solved by the method of inverse transformation.Based on the above research, the general scheme of kinematical analysis and simulation about arc-welding robot-positioner workstation is studied, including the development circumstances's analysis , whole structure's analysis and data structure's analysis etc. Finally, three kinds of typical welding-line , including beeline welding-line , plane curve welding-line and spatial curve welding-line, are simulated successfully by using the modules of robot modeling, definition and picking-up of welding-line. The simulative result shows the above work will give a good groundwork for the next research of off-line programming.
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