为了研究路径规划中机器人不同转向中心对90°折线角焊缝跟踪过程的影响,对焊缝跟踪过程进行了分析,建立了轮式移动机器人运动学模型;对轮子接地面进行了受力分析,建立了考虑轮子变形情况下机器人动力学模型;最后对机器人跟踪过程运动、动力学进行了仿真分析和焊接试验研究.结果表明,机器人转向中心的选取对左、右驱动轮转动角速度以及水平滑块伸缩速度影响较大;转向过程中左、右驱动轮所需驱动力受转向中心影响很小,且大小近似恒定,可视为稳态转向;拐点处实际速度以及速度变化与焊接要求速度有关,与转向中心的选取无关. In order to study the influence of different turning centers of robots on the tracking process of fillet welds at 90 ° in path planning, the welding seam tracking process was analyzed and the kinematics model of wheeled mobile robot was established. The robot kinematics model considering the deformation of the wheels is established.Finally, the motion and dynamics of the robot tracking process are simulated and the welding test is carried out.The results show that the selection of steering center of the robot can make the rotation angular velocity of the left and right drive wheels and the horizontal slider The driving force required by the left and right drive wheels during the steering process is less affected by the steering center and is approximately constant in size and can be considered as steady steering. The actual speed and the speed change at the inflection point are related to the welding speed requirements, Has nothing to do with the steering center selection.