一种相贯线埋弧焊接机器人的结构优化设计

摘要

为了使相贯线埋弧焊接机器人具有更好的运动学和动力学性能，结合机械结构特点和动力学性能，按照由下而上的设计方法，优化设计了一种相贯线埋弧焊接机器人。利用UG软件完成了三维建模，并通过ADAMS软件进行了仿真分析。仿真结果表明：该方法提高了系统的整体性能，为其他相关机器人结构和驱动装置的优化设计提供了参考。%In order to make the intersecting seam submerged arc welding robot have better performance in kinematics and dynam-ics,by taken both characteristics of mechanical structure and dynamic performance into consideration,the robot was designed with opti-mization in using a bottom-up design approach. The three-dimensional (3-D)modeling was completed by using software UG,and every step was followed by the simulation analysis of the ADAMS software. The simulation results show that the method has improved the overall performance of the system and provided a reference for the optimized design of structures of other related robots and driving de-vices.