-Abstract:Given that of the actual environment of the welding siteis not the same

and the problem that the traditional welding robot can notfully adatp to a variety of different welding environment

we put forward adesign of a six-axis welding robot. In the sixaxis manipulator

the angularvelocity on each rigid body is processed and the coordinate transformation isperformed to obtain the linear velocity and angular velocity of each rigidbody. By collecting the force signal of the force sensor on the manipulator

the signal is analyzed to obtain information about the force at the end of themanipulator and a method is designed to predict the six forces at the end ofthe manipulator. The DH method is used to analyze the sixaxis manipulator toobtain its inverse kinematics equation to adjust the corresponding pose.