The concept of motion planning for welding positioner is discussed, and the mathematical model of rotating/tilting positioner under the downhand welding position is created.

• 对焊接变位机运动规划的任务进行了分解,建立了旋转倾斜型焊接变位机使待焊点处于最佳焊接位置时的数学模型,并编制了求解程序,对空间螺旋线型焊缝进行了模拟。