This paper deals with the construction of a general mathematical model of a three-axis fixed-point welding robot. The purpose of the model is to determine the optimal parameters for welding operations, taking into account the forces and moments in the robot links. First, the fulcrum is determined, which will serve as the basis for the model. Then the angles between the robot links are determined, which influence the maximum values of the moments and forces. Based on the data obtained, the maximum values of the moments are determined as a function of the robot position and the workpiece diameter. This makes it possible to determine what maximum diameter of the workpiece can be used to perform welding operations in each specific robot position. Thus, the proposed mathematical model makes it possible to evaluate the capabilities of a three-axis welding robot and determine its optimal parameters for performing various welding tasks.
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Smagin et al. (2024) studied this question.
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