Forward Kinematic Analysis of A Welding Robot With 5 Degrees Of Freedom

Abstract

In this study, the kinematic diagram of the joints of the limbs of a five-axis welding robot, which was designed and manufactured, was created according to the Denavit-Hartenberg rules, kinematics and advanced kinematics equations were created and calculations were made with the data of the robot. These equations, which were obtained in order to control the position and orientation of the end effector of the robot, were converted into codes in an interface program prepared in Microsoft Visual Studio C# 2010 program, analytical calculations were made in the computer environment and the results were obtained. In this way, the trajectory in which the welding process can be performed automatically is determined with the feed (d) and angle (θ) joint parameters data entered automatically from the keyboard of the torch, which is the end effector of the welding robot. With the kinematic calculations in the interface program prepared in the Microsoft Visual Studio C# 2010 editor prepared on the computer, it was ensured that the welding torch, which is the end effector of the welding robot, remotely controlled the welding applications in the desired trajectory.