In this paper, an automatic torch pose planning system for all position welding has been developed, for the purpose of improving flexibility and automatic planning ability of arc welding robot.
为提高弧焊机器人的适应性和自动规划功能，研究了一种空间全位置焊接条件下的焊炬姿态自动规划系统。
2
With summing up defects in the departed design and considering flexibility of the robot, a bran-new scheme are designed, also, characteristics of the mechanism are analyzed.
总结以往设计中的缺陷，并综合考虑多足机器人灵活性要求，设计了机器蟹本体结构方案，进行了机构分析。
3
The dynamic equation of robot arms with link flexibility is established using Lagrange method.