中文摘要：

设计了一种XYZR型四自由度直角坐标焊接机器人,传动机构由x、y、z三个方向上的滑动机构和一个R方向的转动机构组成,转动机构连着末端执行机构即焊枪,在控制系统作用下,通过各个传动机构的运动实现末端执行机构的焊接功能。利用D-H参数法建立XYZR焊接机器人的运动学方程,对机器人的末端执行机构的运动进行理论推导,并利用ADAMS软件对机器人的末端执行机构进行运动学仿真研究,最后运用半实物仿真平台对焊接轨迹进行仿真测试。结果表明,由4个关节引起的运动的机器人末端位移、速度曲线变化平稳,验证了结构设计的合理性,为机器人控制系统的设计提供了依据。

英文摘要：

A kind of XYZR four degrees of freedom rectangular coordinate welding robot was designed. The transmission mechanism was composed of x,y,z sliding mechanism on three directions and R direction of rotating mechanism, and the rotating mechanism attaching to the terminal actuator is welding torch. Under the action of control system, the welding function of the terminal mechanism was realized by transmission mechanism of the movement. The dynamics equation of XYZR welding robot was established based on D-H method. The theoretical derivation for the terminal actuator motion of the robot was overturned and the terminal actuator of the robot for kinematics simulation research was studied by using ADAMS software. Finally, the welding trajectory simulation test was carried out by using the semi-physical platform. The results show that the displacement and the velocity curves caused by the movements of robot’s four joints changes smoothly without the impact, which can confirm the reasonableness of structural design, and provide the basis for optimal design of robot control system.