Welding robot design for electrical tram manufacturing

Today, welding robot technology is widely used in the automotive industry. Thanks to this welding robot technology, the manufacturing processes are carried out in a serial manner, and the quality has increased in terms of the manufacturing standard. The production of electric nostalgic trams manufactured in our country is produced as manual labor. With the increase in the tram market, in order to respond to this market, a rotary (RRRRRR) serial robot arm, each of which has a six-jointed Euler wrist structure, has been designed for spot welding on the outer panel sheets of the tram. First of all, a three-dimensional computer aided design of the robot was made and a moving welding wire was connected to the end functional. Forward and inverse kinematics equations are derived to reach the target tailstock points. The mathematical model of these equations was obtained in Matlab environment. In order for the robot joints to work smoothly and without vibration, trajectory planning was made and the robot was simulated in the Matlab simulink program, so that the robot arm could be controlled. In order for the robot end functionalist to move in the desired orbit, trajectory planning was made and motion analysis was performed. With the trajectory planning, the position, velocity and acceleration parameters of each joint were obtained. As a result, the robot can be operated by using the position, velocity and acceleration parameters obtained from the analysis results for the automation control parameter inputs.