Design And Kinematic Analysis Of Welding Robot For Coil Box

At present, robot has a very wide application, such as welding robot, handling robot and assembly robot. In recent decades, robot has been further improved in China, but compared to Japan and the United States and other developed countries, there are still some gaps. Replacing people with robots can greatly improve the level of productivity. Therefore, the research and development of new robot technology has a very important practical significance. Commonly robots are usually installed next industrial equipment and production lines, and they replace people to do all kinds of work with their stability and precise controlling performance. Combined with the welding research topic requires for the coil box, this paper designed a welding robot with six degrees of freedom for coil box, selected the optimal solution for structural design, and analyzed the location coordinates and kinematics of the robot.Options are:(1) to solve the coordinate transformation matrix, as well as to solve the equations of motion of the positive solution using DH method.(2) to solve the speed Jacobian matrix, as well as to solve the displacement analysis and velocity analysis of special points of the wrist point using vector product method. This plan provides for a certain reference frame for motion analysis, design and motion control of the welding robot.Finally, this paper analyzed the dynamics simulation of the robot using MATLAB software, and compared the results of its simulation results with the calculation, and had a new attempt and some experience for using professional software to analyze the characteristics of the mechanical structure.