Design And Analysis Of Climbing Obstacle With Wheel Foot Combined All Position Auto-welding Robot Based On Virtual Prototyping

At present welding robots are mostly used in structural welding environments, however, in nonstructural environments, especially in the manufacturing of those huge equipments—hull, ball(gas)sphere, during the maintenance working, the heavy working amount, complex working space ,difficult welding work compel to develop new style welding robot in this complex condition.This paper study the fictitious style of robot from design and analyses, mainly study as follows;(1)Analyze the study background and meaning of welding robot, the situation of welding robot from home and abroad, and introduce the main content of this paper.(2)Usually, there're paddywack obstacles on the surface of the monuments seam. According to the characteristics, this paper designs a welding robot which can realize the function of crossing obstacles, including crawling mechanism, permanent magnetic absorption and fluctuation mechanism, 5-DOF welding manipulator and frame ontology. By SolidWorks, the three-dimensional virtual prototype model of welding robot has been designed. Using SolidWorks Simulation, statics finite element simulation has been done. The author has also analysed the simulation result, revised the design, and finally achieved the structural optimum design. The processes of welding seam by manipulator and crossing obstacles have been simulated by SolidWorks Motion software.(3)Simulate, validate and analyze the welding robot by the ADAMS software. Import the virtual prototype established in SolidWorks into ADAMS, simulate and analyze mechanical characteristics of welding robot in the most difficult conditions– in the process of walking on the vertical plane, and put emphasis on analyzing slippery problem when waking, finally simulate and analyze the process of turning on the vertical plane.