Abstract: Based on the Newton-Euler method, the dynamic behaviors of left and right driving wheels and the body of the welding mobile robot(WMR) to the welding torch point are derived. In order to realize the combined control of robot body and sliders, and further research the dynamic behaviors of sliders, a systematic and complete dynamic model for the WMR is constructed. However a controller design based on the above dynamic model is impractical due to its complexity and uncertain influencing factors. Rotational simplification of the model is discussed so as to meet practical application, and then a state space equation of the model is built. The dynamic simulation model of the welding mobile robot is established by using MATLAB. As a result, it lays the theoretial foundation for stability analysis, mechanical structure and controller design of the welding mobile robot.

Key words: Auto-searching weld line, Dynamic model, Seam tracking, Welding mobile robot