中文摘要：

针对当前焊接机器人构件繁多而引起的轨迹规划复杂问题,提出一种新颖的球形电机驱动的焊枪机构。首先简要介绍该机构的结构和工作原理,然后在Solid Works中建立该机构的三维模型,并导入动力学仿真软件ADAMS中,通过添加质量属性和约束建立该机构的动力学模型。接着运用Denavit-Hartenberg（D-H）矩阵法,求解出焊枪末端点位姿的数学模型。最后通过设置两个驱动力矩函数,实现弧焊和平焊两种典型工况的运动,得到了焊枪末端点位移、速度曲线。仿真结果表明：该机构结构简单,焊接轨迹误差在3%以内,从而验证了机构设计的合理性和轨迹规划的简单性,为焊接机器人以后的发展提供了有效的途径。

英文摘要：

Considering the problem of complicated trajectory planning caused by several parts, a novel welding torch mechanism driven by spherical motor was proposed in this paper. Firstly, its mechanical structure and working principle were introduced. Secondly, its three-dimensional （3D） model which built by SolidWorks was imported into ADAMS, and its dynamic model was established by adding mass property and constraint. Thirdly, employing Denavit-Hartenberg （D- H） matrix method, mathematical model for the end point of torch was established. Finally, arc and fiat welding dynamic simulation were carried out respectively by setting two motion functions, displacement, velocity of the end point of torch was shown in post-processor module. The simulation results show that the error of welding trajectory is less than 3 percent, which verifies its rationality and simplicity for trajectory planning, it provides effective way for the development of welding robot.