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一、前言电弧焊机器人是具有某些智能的机器人,即所谓第二代机器人。它是可以代替人进行电弧焊操作的自动化装置。电弧焊是工人处于高热、噪音、闪光、飞溅、烟气等恶劣环境的作业,并且需要操作者有相当熟练的技术。因此电弧焊自动化引起许多国家的重视。过去,大量生产的产品,共焊接线多为直线和圆弧,可采用专用的自动焊机。75年以后,在国际上看:由于产品的激烈竞争,致使生产类型产生很大变革,那种数年如一日只生产同种产品的时代已经过去,其趋势是产量大致固定而品种明显增加。就生产线来说,正朝
I. Introduction Arc welding robot is a robot with some intelligence, the so-called second-generation robot. It is an automation device that can replace arc welding operations. Electric arc welding is a worker in high temperature, noise, flash, splash, flue gas and other harsh environments, and require the operator has a very sophisticated technology. Therefore, arc welding automation has drawn the attention of many countries. In the past, mass-produced products, a total of welding lines and arcs, can be used for a dedicated automatic welding machine. After 75 years, at the international level, due to the fierce competition in products, great changes have taken place in the types of production. The era in which only the same kind of products are produced as one day in the past few years has passed. The trend is that output will be broadly fixed and varieties will obviously increase. On the production line, is toward