The Design of Legged Mobile Welding Robot

  • Yuan Hu
  • Weizhong GuoEmail author
  • Feng Gao
  • Hao Chen
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)


The mobility of wheeled or orbital mobile welding robot is constrained by obstacles, uneven terrain or orbit. A new legged mobile welding robot which can surmount obstacles and move freely on uneven terrain is presented in this paper. This robot is the combination of a hexapod robot and a six DOF manipulator. Each leg of the hexapod robot is a three DOF parallel mechanism which has excellent load bearing capability. The manipulator is a PRPRRR mechanism which is characterized by motion decoupling. Inverse kinematic model of this robot is built, and workspace analysis is presented. Then, motion simulation of a typical welding workflow is delineated.


Legged robot Mobile welding robot Inverse kinematic Workspace analysis Motion simulation 


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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiChina

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