Research On Structure Design, Kinematics And Trajectory Planning Of An Arc Welding Robot

The development of advanced manufacturing technology in the 21st century shows that welding automation is inevitable trend. Welding automation has developed from manual welding, semiautomatic welding to mechanized automatic welding, current trend is flexible and intelligent robot automatic welding. Arc welding robots have been used widely in main industry nations, but in our nation, arc welding robots are not used widely, and most of those are not homemade, so it is of significant sense for related research to advance the application of arc welding robot and its industrialization.Based on lots of literatures and combined with the actual project requirements , the paper focuses on a robot scheme establishment, kinematics analysis and trajectory planning based on robot teach. Firstly, based on analysis of arc welding robots structure characteristics, the requirements of working space and the task feature, a 5-freedom pending robot structure is proposed. Secondly, according to welding procedure , the performance parameters of the robot are determined, then the prototype is designed. Thirdly, kinematics equations of the robot are set up using coordinate transform matrix, forward-inverse kinematics solution and Jacobian matrix are given. Fourthly, virtual prototype is established , while kinematics simulation is implemented using ADAMS software. Fifthly, a practicable robot teach method is discussed, and experiments are conducted. Sixthly, a method of obtaining tool path is proposed, according to tech points and the feature of operation. At last, Based on the tool path obtained by robot tech and study of trajectory planning method , trajectory planning of the robot is carried out according to task requirements, then the planned results are simulated.