According to the problem of welding labor intensity

poor operating conditions

the quality of welding is not easy to control in domestic tower crane industry

a six-degree-of-freedom welding manipulator for tower crane is designed.The manipulator is driven by AC servo motor and harmonic reducer.The kinematics model of the manipulator is established by D—H method

and the manipulator kinematics equations is derived.The mechanical simulation model of the manipulator is established by SimMechanic module of MATLAB software.The manipulator kinematics simulation analysis is carried out

the correctness of the kinematic model is verified.