Motion Trajectory Planning and Motion Accuracy Reliability Analysis of Welding Robot  
Author Wenxue Qian

 
Co-Author(s) Jianfeng Yang; Xiaowei Yin; Ruijin Zhang; Ningxiang Wu; Liyang Xie

 
Abstract Welding robots are widely used in engineering practice, and their positional accuracy has an important impact on welding quality; in addition, welding trajectory planning affects welding quality. In order to achieve the high-quality work requirements of welding robots, based on the actual working conditions, a six-degree-of-freedom serial welding robot is taken as the research object, relevant technical parameters are designed, and a kinematic model of the welding robot under the D-H coordinate system is established. The Monte Carlo analysis method is introduced to analyze the working space of the welding robot, and the trajectory planning of the welding robot is carried out by using the fifth-degree polynomial interpolation method, and its reasonableness is verified. Based on the micro-displacement synthesis method, and established the static position error model and reliability calculation model of the robot, the influencing factors of the position accuracy of the welding robot were analyzed, and the sensitivity of the influencing factors was derived, finally, based on the Monte Carlo method, the reliability of the position and accuracy of the welding robot was verified with the connecting rod parameters of the welding robot as an example, and the relevant results were obtained. The research work in this paper has certain reference significance for the design of welding robot and the improvement of welding quality.

 
Keywords Welding robot, trajectory planning, pose accuracy reliability, mechanism analysis
   
    Article #:  RQD2025-404
 

Proceedings of 30th ISSAT International Conference on Reliability & Quality in Design
August 6-8, 2025