Automatic programming for industrial robot to weld intersecting pipes

Shi, Lei; Tian, Xiaohui; Zhang, Chenghui

doi:10.1007/s00170-015-7331-8

Cited by 46 publications

(10 citation statements)

References 15 publications

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“…Ren et al 19 modelled the weld seam and welding torch pose in welding intersected T-shaped pipes. Shi et al 20,21 proposed an algorithm for industrial robots to weld intersecting pipes. Li et al 22 used the Solidworks API CAD software for path planning.…”

Section: Introductionmentioning

confidence: 99%

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

et al. 2020

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SUMMARY The V-groove joint of thick wall intersecting pipes must be filled by multi-layer weld. The welding path of intersecting pipes is complicated, and hence multi-layer welds increase the complexity of the problem. This paper proposes a methodology for path planning of multi-layer weld of thick wall intersecting pipes. The methodology is based on measuring the electrode pose located in both side and front views of intersecting pipes. In order to compensate for the path deviation around the pipe circumference, the measured values are used to interpolate the path of each pass between two views. The methodology has been applied in a case study. Simulation results approve that multi-layer weld appropriately fills the V-groove joint space around the pipe circumference. In addition, collision avoidance between welding torch and pipes is considered by introducing a safety ring. While the robot wrist moves inside the safety ring, no collision occurs. Simulation results show the robustness of the proposed path planning method, introduced for collision avoidance.

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Section: Introductionmentioning

confidence: 99%

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

et al. 2020

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“…This strategy used the method of constant speed to track the path to make the 5-DOF robot and 2-DOF positioner move simultaneously. Shi et al [18] studied robots' and positioners' trajectory planning in the process of coordinated welding of intersecting tubes, and Shi et al proposed an algorithm for generating motion codes for welding intersecting tubes. This algorithm used the welding speed control as the basis of the industrial robot's trajectory planning, and it can prevent the cable winding up.…”

Section: Introductionmentioning

confidence: 99%

The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing

Lin

Wang

et al. 2020

Electronics

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In this paper, we propose a synchronous cooperative path planning (SCPP) algorithm for the robot and the positioner to process complex space curve workpieces. The specific algorithm design is illustrated by using the intersecting line welding as an example. The robot and positioner are regarded as an 8-degree-of-freedom (DOF) system to plan the whole synchronous cooperative motion path, and the constraint for the Y-axis of the welding torch coordination system is added for solving the intersecting line orientation information. SCPP is used to process the intersecting line. The changes of welding torch orientation and robot joint rotation angles during welding of the intersecting line by using the improved method and compared to the traditional method. The experimental results show that 8-DOF keeps synchronous cooperative in the whole movement. There is no interference happening during the entire cooperative movement and the welding torch’s orientation remains basically unchanged during the welding intersecting line.

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“…More repetitive works are required to execute these degrees of freedom. Corresponding structural designs have some special difficulties [15][16][17][18]. Traditional methods rely on experts' experiences and these kinds of experiments may increase the costs of production and the randomness of the products [19].…”

Section: Introductionmentioning

confidence: 99%

Light-Weight Topological Optimization for Upper Arm of an Industrial Welding Robot

Yao

Zhou

Lin

et al. 2019

Metals

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To reduce weight and improve overall performance of the industrial welding robot, light-weight design using the finite element method and structural topological optimization is presented in this paper. The work analyzed an upper arm of an industrial welding robot in the most unfavorable working condition, both under static and dynamic working situations, using ABAQUS and ADAMS software tools. Then the Tosca unit in ABAQUS was employed to accomplish the structural topological optimization, in order to reduce weight and improve the natural frequencies under the situation of low orders. The analyses results showed that the actual weight had been reduced to 17.9%, and the natural frequencies in low orders had increased. The maximum Mises stress, tensile stress, and elastic displacement of the gyration center had decreased. Lastly, an actual product was produced according to the model obtained from preceding analyses. The experiments of the repeatability tests showed that the overall performance of the optimized upper arm had been improved when compared to the original one. This research can present references and foundations for the kinetic analyses under the static and dynamic working conditions, and structural topological optimization designs for relative industrial welding robots.

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Automatic programming for industrial robot to weld intersecting pipes

Cited by 46 publications

References 15 publications

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing

Light-Weight Topological Optimization for Upper Arm of an Industrial Welding Robot

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