Kinematics and Dynamics Analysis of Multi-robot Coordination Welding Intersecting Line Based on ADAMS

In this paper,Six-axis industrial robot(Panasonic TA1400)was taken as the research object,the multiple robots coordinated movement simulation environment in ADAMS environment was established.Through the designing of auxiliary institutions for drawing dual intersecting line,simulation movement design and simulation script editing,dynamics analysis of three robots coordinated welding dual intersecting line was undertaken,then obtained the required driving torque for each joint of robot,and the angular displacement,angular velocity,angular acceleration curve as well.Compared with the angular displacement,angular velocity,angular acceleration curve measured by adopting the end-dragging robot movement strategy,the correctness of the dynamics analysis was validated.