This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis is to assess their respective performances within the specialized domain of welding, focusing on predefined industrial application scenarios. These scenarios encompass a range of geometrical components earmarked for welding, along with specified welding paths, spatial constraints, and welding methodologies reflective of real-world scenarios encountered by manual welders. The case studies presented in this research serve as illustrative examples of Weez-U Welding practices, providing insights into the practical implications of employing different robot morphologies. Moreover, this study distinguishes between various base positions for the robot, thereby aiding welders in selecting the optimal base placement aligned with their specific welding objectives. By offering such insights, this research facilitates the selection of the most suitable architecture for this particular range of trajectories, thus optimizing welding efficiency and effectiveness. A departure from conventional methodologies, this study goes beyond merely considering singularities and also delves into the analysis of collisions between the robot and its environment, contingent upon the robot's posture. This holistic approach offers a more nuanced understanding of the challenges and considerations inherent in deploying robotic welding systems, providing valuable insights for practitioners and researchers alike in the field of robotic welding technology.

翻译：本文对两种不同的机器人构型进行了全面考察：PUMA型机械臂（可编程通用装配机器）与UR型机器人（Universal Robots）。此项对比分析的主要目的在于评估两者在焊接专业领域内的性能表现，聚焦于预定义的工业应用场景。这些场景涵盖了计划进行焊接的一系列几何构件、指定的焊接路径、空间约束条件以及反映手工焊工实际工况的焊接方法。本研究提出的案例作为Weez-U焊接实践的例证，为采用不同机器人构型的实际影响提供了见解。此外，本研究区分了机器人的多种基座定位方式，从而帮助焊工根据其特定焊接目标选择最优的基座布置方案。通过提供此类洞见，本研究有助于为此特定轨迹范围选择最适宜的架构，从而优化焊接效率与效果。与传统方法不同，本研究不仅考虑了奇异性问题，还深入分析了机器人与其环境之间因姿态而异的碰撞情况。这种整体性方法为部署机器人焊接系统所固有的挑战与考量提供了更细致的理解，为机器人焊接技术领域的从业者和研究人员提供了宝贵的见解。