Movement coupling analysis on the wrist of 165Kg spot welding robot

摘要

The driven system of 165Kg spot welding robot is introduced and the movement coupling of the wrist is analyzed in detail. The influence formulas of movement coupling to each joint of the wrist are derived theoretically. Furthermore, the kinematics simulation of the wrist is carried out by the software of Solidworks. The simulation results are in agreement with the theoretical calculation, which proves the validity of the transmission analysis. These can be used as reference for transmission design and motion control of industrial robots.