Dynamic Analysis of a 165Kg Spot Welding Robot

A novel 165Kg spot welding robot is introduced, which is independently developed by China. The Newton-Euler approach is used to derive the dynamic equation. Then, entity model of the robot is built up with Solidworks software. The motion of the robot is planned by the position, velocity and acceleration of all the joint. The first three joints, which bear most of the payload and the own weight of the robot, are set with maximum acceleration during the accelerating/ decelerating process. According to the planned trajectory, dynamic simulation is carried out using Solidworks. The driving torques of each joint are obtained. From the dynamic analysis, we find the position yielding the maximum driving torque while the robot is moving with the maximum payload and the maximum speed. The moment of inertia-is a predominant influence in the causation of big actuating torque.