Development and mechanism motion analysis of welding robot for expandable profile liner

Abstract

A robot was studied for the automatic welding of 8 type expandable profile liner(EPL).The structure characteristics of EPL were analyzed.The welding robot mechanism plan was proposed that was composed of a welding carriage,a mini tracking system,a mini welding gun and a height control system.The motion analysis for the robot mechanism was implemented and the robot kinematics model was built based on D-H rule.The correctness of the model was verified via Matlab simulation and the model analysis. The cooperation work mechanism of the welding carriage and the mini tracking system was established based on the pressure detection,which can realize the 8 type seam tracking.The simulation results show the validity of the built model.