Kinematics Analysis of a Six-axis Welding Manipulator

Abstract

Given that of the actual environment of the welding site is not the same, and the problem that the traditional welding robot can not fully adatp to a variety of different welding environment, we put forward a design of a six-axis welding robot. In the sixaxis manipulator, the angular velocity on each rigid body is processed and the coordinate transformation is performed to obtain the linear velocity and angular velocity of each rigid body. By collecting the force signal of the force sensor on the manipulator, the signal is analyzed to obtain information about the force at the end of the manipulator and a method is designed to predict the six forces at the end of the manipulator. The DH method is used to analyze the sixaxis manipulator to obtain its inverse kinematics equation to adjust the corresponding pose.