Firstly, based on analysis of arc welding robots structure characteristics, the requirements of working space and the task feature, a 5-freedom pending robot structure is proposed.
首先，分析了弧焊机器人的结构特点，并根据工作空间要求、作业特点，确定了一种5自由度悬挂式构形。
Viewing from working space, the man-machine analysis has been made and the man-machine technical parameters have been provided for product design.
从作业空间方面进行人机学分析，并为产品设计提供有关人机学技术参数。
Simulation results show that the analysis can reflect the complete working space of 3-ptt CNC serial-parallel machine tools and provide a theoretical basis for automatic control of working process.
仿真结果表明：此分析能较好地反映3—PT T串并联数控机床的完全工作空间，为工作过程的数字化控制提供了理论依据。
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