针对箱型钢结构施工安装现场的环缝焊接问题，设计了一种直-弧组合轨道式焊接机器人系统。对该系统进行了基于标准D-H模型和Craig修正模型的运动学对比分析，总结了各模型的运动学建模和求解过程的区别及适用性。针对箱型钢结构环缝焊接的焊枪运动轨迹规划，提出综合轨迹规划法（CTPM）。该方法使机器人以最少的自由度在箱型钢结构环缝焊接时实现焊枪任意空间位姿调整功能，使得针对箱型钢结构直角焊接的轨迹规划更加简便高效。计算和仿真结果表明：所设计的机器人系统能够满足箱型钢结构环缝焊接的功能要求，综合轨迹规划法能够实现在箱型钢结构环缝焊接时对焊枪空间位姿的有效调整。
A straight-arc combined orbital welding robot system was designed for girth welding of box-type steel structures at construction sites. The kinematics analyses used the standard D-H model and the Craig modified D-H model for this welding robot with evluations based on the modeling accuracy and solution process for the welding torch trajectory planning for girth welding of box-type steel structures. The trajectory planning method could adjust for arbitrary spatial position and posture relative to the welding torch with the minimum degrees of freedom. The planning mehtod gave an efficient trajectory for right-angle welding of the box-type steel structure. Simulations show that the welding robot system can provide the girth welding of box-type steel structures and can ajust to various spatial positions and postures.
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