Design and implementation of power socket soldering robot arm system

Abstract In order to solve the problem of high cost and low efficiency in manual welding of power socket welding components, a soldering robot arm system was developed. The gripper, 5-DOF manipulator, clamp, support, and control system were designed. The coordinate system of the robot arm was constructed, and the working space of the robot arm was analyzed by using the MATLAB robot toolbox. It was concluded that the x0 coordinate range of the welding working area was [175mm, 215mm], the y0 coordinate range was [55mm, -55mm], and the z0 coordinate was 90mm. At the same time, the motion trajectory of the robot arm was determined. Using Raspberry PI as a controller, the control system is developed by programming Python language. The prototype is made, and a welding test is carried out. The test shows that the system has completed the welding operation, and the welding effect is good.