中文摘要：

针对深水环境中大型构件的自动化焊接问题，设计了一种全位置水下焊接机器人．该机器人采用磁轮式移动平台与4轴旋转机械臂相结合的机构形式，平台通过磁轮吸附在构件表面，以实现大范围的移动，4轴旋转机械臂的姿态变换可实现全位置焊接．为完成预定轨迹的焊接操作，对移动平台与旋转机械臂进行运动学建模，得到平台与各关节的运动学参数．利用机械系统动力学建模对上述运动学参数进行仿真和实验操作，验证了轨迹精度满足要求．

英文摘要：

chieve a wide range of mobility. And the 4-axis robotic arm could achieve all-position welding by pose transformation. To accomplish the welding of the predetermined trajectory, the kinematics model was established and kinematics parameters of the mobile body and the rotating robotic arm were determined. ADAMS was used to verify the above kinematic parameters and an experiment was conducted. The results show that the running trajectory of the underwater welding robot can meet the precision requirements. Key words, underwater welding robot; robotic arm~ kinematic model