KINEMATICS AND PERFORMANCES ANALYSIS OF A NOVEL HYBRID WELDING ROBOT

Dan Zhang, Qi Zou, Sheng Guo, and Haibo Qu

Keywords

Welding robot, hybrid manipulator, singularity analysis, performance atlas

Abstract

A novel hybrid robot for welding operation is presented in this article. The mobility analysis, kinematic problems of the mechanism are derived in detail, and the equivalent serial structure is also obtained. Its parallel part’s kinematics is computed based on geometric approach. Singularity configurations are discussed, and one exception is added. Performance indices are studied by means of parameters design space, which divides its space into nine sections and provides theoretical basis for selecting appropriate linkage lengths in industrial application. Then optimization and the corresponding atlases are constructed to facilitate the optimization of the mechanism.

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