The linkage model of the arc weld is established

and the relative displacement relationship between the arc weld and the robot arm space is derived. Based on the linkage model

the relationship between wire deposition speed and torch movement speed and equipment limit speed is studied through dynamic simulation experiments. On this basis

the influence law of welding robot wire feeding speed on welding gun moving speed and arc radius is further studied

and the small-scale arc linkage model of steering frame is established. Based on the linkage model of arc welding seam

the method of "year-on-year reduction" is established

which can effectively ensure the consistency of welding wire deposition speed and filling quantity of weld seam after the change of welding speed. The maximum reduction ratio of welding speed of bottom layer of weld seam is 11%. The radius of weld seam is increased after the merging of adjacent arcs. The contour blurring method can reduce the moving speed of the external axle by 10%. The method of taking the center arm of the large external axle supporting the robot axle to the middle position of the straight-fingered arc line is established to optimize the data in the model of arc seam linkage welding

and reduce the nine-axis linkage welding to seven-axis linkage welding

so that the axes of the welding robot can be connected. The stability of dynamic welding is the best.