Kinematic and Dynamic Simulation of TL-1 Robot

In this paper the kinematic and dynamic simulation of the TL-1 are welding ro-bot with five degrees of freedom is presented.By homogeneous transformations methodthe kinematic equations and formulae forthe inverse problem of the TL-1 robot arederived,and the algorithm for the kinematic and dynamic simulation of the TL-1 robot is presented.Finally we give an example with digital simulation results,whichcan be used to evaluate the robot performances and potential capability and to checkthe stiffness,strength power consumption and driving torques of the motors,maxi-mum velocity and limiting load of the robot.