ABSTRACT
The largest industrial robot application is welding robot, which accounted for the total
number of industrial robots about 25 percent. Because of the many components of welding
precision and speed to the growing demands, the general competence of workers has been
difficult this work; Moreover, the welding robot can also reduce the welding sparks and smoke
caused harm to the human body and so, therefore, the subject The proposal has very great
significance.
In order to improve the efficiency of production and welding quality of products and meet
real work's needs, this subject has designed the articulated robot used for welding . According to
the job requirements for the robot and structure characteristic , I have carried on the overall
design of the robot, confirmed the external dimension and workspace of the robot, drafted the
overall transmission scheme of every joint of the robot. I have designed the waist structure
of the robot in detail, assigned the electrical machinery and gear wheel rationally, confirmed at
all level transmission parameters , carried on the design and calculating of gear wheels , shafts
and bearings and checking them.The kinematic model of robot system has been built up by
means of the homogenous transformation of matrix in this thesis and deduces the robot's
homogenous coordinate which is relative to its reference coordinate. We also make up the
position relationship between the robot's end effector and the variable friable of every joint. The
inverse kinematic model is deduced which based on the projection principle of geometry and the
value of angle is worked out. What’s more, the relationship is built up between the joint space of
robot and the world space. This robot has the characteristics of fine rigidity , position precision
high , that operate steadily.
Key words: Articulated robot; Design overallly; Waist articulated structural design of the
robot；6
目 录
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