Mechanism Design And Simulation Of Two-wheel Differential Drive Three-wheel Mobile Welding Robot

With the development of China’s shipbuilding welding technology, automated welding equipment has been widely used in a number of large shipyards. The development of Welding automation has played an important role in improving the ship welding efficiency, reducing the labor intensity and cutting welding costs. Because of the complex environment and heavy workload of unstructured ship welding and the great difficult of tracking many fillet seams and curved seams, There is an urgent need of specialized welding robot to meet the special welding tasks. This paper presents a simple, relatively easy to control, steering flexible two-wheel drive differential drive three-wheel mobile welding robot.The paper presents the overall design Index of the welding robot. By comparing the advantages and disadvantages of the three-wheel mobile platforms and four-wheel platforms, according to the characteristics and requirements that the seam tracking of the mobile welding robot, at last the two-wheel differential drive three mobile platform solution is determined. Then the structure design of the welding robot mobile platform and seam tracking fine-tuning mechanism is developed by the modularization concept. Moreover by analysis of the mechanics and dynamics of the mobile platform and the two-dimensional mobile platform the driving power of the mobile platform and the two-dimensional mobile platform are determined as well as the right drive motor and reducer. In addition, the configuration of the two-dimensional mobile platform on the mobile platform is analyzed. At last I perform kinematics analysis of tracking of the right-angle seam process.The three-dimensional model of welding robot moving mechanism is built by using of CAD software UG. In order to study the motion characteristics of the welding robot moving mechanism and to verify the rationality of the structural design, virtual prototype model of the welding robot movement mechanism is built by the using of ADAMS. After that the Tracking of lines、curves、circles、straight line-circle-line weld seam are simulated in ADAMS. By comparing the actual trajectory and the target trajectory of the moving mechanism tracking along a straight line weld seam, and analyzes the size of the error and causes. The simulation indicated the structure designed can meet the requirements.