Abstract: In order to improve the accuracy of bead planning for robotic welding of large-scale intersecting components, a multi-layer multi-pass planning method is proposed based on the parabolic model with a method of equal area and equal height. Firstly, process parameters, cross section of weld pass, welding sequence, gun position and posture were planned, and then the algorithm formula was worked out. Secondly, MATLAB software was carried out on the multi-layer multi-pass welding beads layout. Finally, robotic welding experiments were conducted to verify the planning algorithm of welding beads. The results show that the simulated welding beads profile match with the experimental contour of each layer and pass at V-groove. This demonstrates that the proposed multi-layer multi-pass weld planning algorithm based on the parabolic model is feasible and accurate. The research has provided important theoretical basis for the layout of multi-layer multi-pass beads for robotic welding of intersecting components.