Kinematics Simulation and Operation Space Analysis of Arc Welding Six-Axis Robot Based on Matlab and Adams

摘要

Taking arc welding robot in the whole process automation of welding as the research object, a theoretical model of six-degree-of-freedom vertical series multi-joint arc welding robot is established by using standard d-h method. Matlab and Adams are used to analyze the theoretical model, and the joint kinematic simulation of Matlab and Adams verifies that the arc welding robot have good kinematic performance. The movement of the welding gun is stable and there is no mutation in the welding process. On the basis of correct theoretical model, monte carlo method is used to solve the operating space of the arc welding robot. The result shows that the operating space designed by the robot is reasonable and can meet the requirements of arc welding.