Kinematics Modeling and Simulation of GantryShip Welding Manipulator with Hybrid Structure

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. (paper)