A New Type Reconfigurable Mobile Manufacturing Robot

ABSTRACT: The solving method of positions and attitudes of discrete solder joints in a curved weld and the method for constructing a weld coordinate system based on Frenet-Serret’s vector were put forward and the position and orientation vectors relative to time series of discrete welding points were obtained. Thus the relative position and orientation between welding point and welding torch will be derived more easily. Based on the coupling constraint relationship between the ends of the active poistioner kinematic chain and the driven robot kinematic chain, the coordinated welding kinematic model and the corresponding parameter solving process were presented for the optimum ship-welding position. Morever the joint angles, angular velocities and angular accelerations of robot’s and positioner's were obtained according to the parameter solving process.