Kinematics Modeling and Simulation of GantryShip Welding Manipulator with Hybrid Structure

[摘要] The existing gantry ship welding robot mechanism is mostly in series, which has the problems of large motion inertia at the end and joint error accumulation.A kind of ship welding robot with hybrid structure is designed. The platform control mechanism and rotary mechanism adopt the form of planar parallel mechanism, which can effectively increase the rigidity and error compensation ability of the actuator.And the adjusting mechanism of welding torch adopts series structure and keeps the flexible output ability.The kinematics model of the welding actuator is established by combining the closed-loop vector method, complex vector method and D-H four-parameter method.The positive solution of the mechanism is given, and the velocity and acceleration are analyzed based on it.Through simulation analysis, we get the workspace and kinematic characteristics curve of some components under given trajectories to verified the feasibility of the proposed mechanism.

[发布机构] Guangxi Colleges, Universities Key Laboratory Breeding Base of Coastal Mechanical Equipment Design, Manufacturing and Control, Qinzhou University, Qinzhou; 535011, China^1;Guangxi University of Science and Technology, Liuzhou; 545000, China^2

[效力级别] 无线电电子学 [学科分类] 计算机科学（综合）

[关键词] Adjusting mechanism;Complex vector methods;Kinematic characteristics;Kinematics modeling;Planar parallel mechanisms;Positive solution;Simulation analysis;Welding manipulators