Error analysis of the position and velocity of arc-welding robot based on flexible mechanics and ADAMS

With the development of aerospace manufacturing automation, the demand for high-precision welding robot is increasing. The analysis method of robot pose error is the key technology to improve the accuracy. This paper presents a method of analyzing the robot posture error by using flexible mechanics theory combined with ADAMS virtual prototype technology, which the elastic deformation of the link arm during working is considered, and the effect of deformation on the position and velocity error of robot can be analyzed. The analysis result of engineering case shows that the maximum position error caused by elastic deformation accounts is up to 25% of static error, the velocity fluctuation of mechanical arm is obvious which affects the welding quality. Therefore the error analysis of robot position and velocity should be combined with flexible mechanics. Method proposed in this paper is used to analyze the position and velocity errors in the design and manufacture of welding robot, which has important significance to improve the welding quality.