【摘要】 为解决目前机器人自动化焊接尚不能覆盖复杂结构件弧缝的问题，基于运动学建模、机器人轨迹规划等方法，开展中小组立弧线焊缝机器人仿真与试验、软件总体设计、人机交互设计、工作站设计。研究表明：中小组立弧线焊缝机器人可有效覆盖复杂结构件的弧缝，焊接效率相较人工焊提升50%。研究成果可为机器人自动化焊接设计提供一定参考。更多还原

【Abstract】 In order to solve the problem that robotic automatic welding can not cover the arc seams of complex structural parts, based on methods such as kinematics modeling and robot trajectory planning,simulation and testing of sub-assembly and unit-assembly group arc welding robots, overall software design,human-computer interaction design, and workstation design have been carried out. Research shows that sub-assembly and unit-assembly assembly arc welding robots can effectively cover the arc seams of complex structural components, and the welding efficiency is increased by 50% compared to manual welding. The research results can provide some references for robot automatic welding design.更多还原