Circular trajectory weaving welding control algorithm based on space transformation principle

Kang, Cunfeng; Liu, Zixiao; Chen, Shujun; Jiang, Xiaoqing

doi:10.1016/j.jmapro.2019.08.027

Cited by 8 publications

(6 citation statements)

References 8 publications

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“…The Denavit-Hartenberg (DH) method is the most commonly used approach for establishing a robot kinematic model. Move each joint of the ZK-500 robot to its initial position and establish a Modified DH (MDH) model, as illustrated in Figure 4 [28]. Based on the MDH model and the dimensional parameters of the ZK-500 robot in Figure 2b, the DH parameters can be obtained in Table 1.…”

Section: Kinematic Model Of Robotmentioning

confidence: 99%

Digital Twin Virtual Welding Approach of Robotic Friction Stir Welding Based on Co-Simulation of FEA Model and Robotic Model

Chen,

Zong,

Kang

et al. 2024

Sensors

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Robotic friction stir welding has become an important research direction in friction stir welding technology. However, the low stiffness of serial industrial robots leads to substantial, difficult-to-measure end-effector deviations under the welding forces during the friction stir welding process, impacting the welding quality. To more effectively measure the deviations in the end-effector, this study introduces a digital twin model based on the five-dimensional digital twin theory. The model obtains the current data of the robot and six-axis force sensor and calculates the real-time end deviations using the robot model. Based on this, a virtual welding model was realized by integrating the FEA model with the digital twin model using a co-simulation approach. This model achieves pre-process simulation by iteratively cycling through the simulated force from the FEA model and the end displacement from the robot model. The virtual welding model effectively predicts the welding outcomes with a mere 6.9% error in lateral deviation compared to actual welding, demonstrating its potential in optimizing welding parameters and enhancing accuracy and quality. Employing digital twin models to monitor, simulate, and optimize the welding process can reduce risks, save costs, and improve efficiency, providing new perspectives for optimizing robotic friction stir welding processes.

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Section: Kinematic Model Of Robotmentioning

confidence: 99%

Digital Twin Virtual Welding Approach of Robotic Friction Stir Welding Based on Co-Simulation of FEA Model and Robotic Model

Chen,

Zong,

Kang

et al. 2024

Sensors

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“…As shown in Figure 5 b, the transformation matrix from the basic co-ordinate system to the groove co-ordinate system can be expressed as Equation (15) [ 4 ].

where

is the rotation matrix, and

is the translation matrix.…”

Section: Velocity-adaptive Trajectory Planning Strategy For Multi-pas...mentioning

confidence: 99%

“…With the developments in information sensing and modern manufacturing technologies, it has become a major trend to realize automatic, flexible and intelligent welding manufacturing [ 1 , 2 ]. Research and development of welding robots related to algorithm design, control systems and sensing ability is emphasized by engineers as a potential area because it has a significant and positive impact on overall industrial production processes [ 3 , 4 ]. Automated intelligent welding robots rely on control algorithm design, which is usually defined as the establishment of a new control algorithm using mathematical models [ 5 , 6 ].…”

Section: Introductionmentioning

confidence: 99%

“…Efficient and intelligent control algorithms can ensure reliable and high-quality automatic weaving welding. Kang et al [ 4 ] proposed a control algorithm of circular trajectory weaving welding based on the space transformation principle. The algorithm calculates the weaving path and weaving parameters according to the initial path and spatial transformation relationship.…”

Section: Introductionmentioning

confidence: 99%

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Towards a Uniform Welding Quality: A Novel Weaving Welding Control Algorithm Based on Constant Heat Input

Lü

Zhang

et al. 2022

Materials

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The weaving welding process is a key method used to improve the welding quality in multi-layer and multi-pass welding processes using robots. However, the heat-input fluctuation in the weaving welding process restricts its development. In this paper, we developed a novel weaving welding control algorithm to maintain a constant weld heat input through velocity adaptive planning. First, the heat consumption during the weaving welding was modeled to describe the influence of weaving parameters on the weld heat input. Then, based on the obtained relationship between the weld heat input and the weaving parameters, a velocity-adaptive trajectory planning strategy was proposed by leveraging the transformation matrix derived from the relationship between the workpiece and the robot co-ordinate systems. The simulation and experimental results show that the proposed strategy can compensate for the weaving parameters to maintain a constant heat input based on heat consumption and improve the quality of the robotic multi-layer and multi-pass welding process.

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“…Researchers from Beihang university proposed an analytical algorithm for measuring three-dimensional forces and three-dimensional torques, which can achieve high precision measurement of interactive forces on the Stewart platform [4]. Cunfeng Kang and Zixiao Liu et al proposed a position transformation method that can generate circular trajectory more accurately [5]. To investigate the motion around the libration points, Yingjing Qian, Zixiao Liu et al transformed the origin of the coordinate system from the center of the system to translational points through coordinate transformation [6].…”

Section: Introductionmentioning

confidence: 99%

Screw Analysis, Modeling and Experiment on the Mechanics of Tibia Orthopedic with the Ilizarov External Fixator

Wang

Lai

et al. 2022

Micromachines

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The Ilizarov external fixator plays an important role in the correction of complex malformed limbs. Our purpose in this work was to reveal the transmission of adjustable forces between the external fixator and the broken bone, and express the stress distribution at the end of the broken bone during the orthopedic treatment. Firstly, the screw model of the fixator was established and the theoretical relationship between the adjustable force and the stress was obtained. A sheep tibia was taken as a representative research object and its ediTable 3D entity was obtained by CT scanning. Then the mechanical model of the fixator and tibia was built using the ABAQUS software. Correction experiments were performed on the sheep tibia to measure the adjustable/support forces and tensions of the tibia. The measured results were imported to the screw and mechanical model, and the theoretical and simulation values were calculated. The theoretical tensions calculated by the screw model had a similar shape and doubled the value compared with that of the measured results. The transfer efficiency between the two results was improved and kept at about 50% after the initial 2~3 periods. The maximum stress occurring at the surface of the broken bone end was near the Kirschner wire pinhole. The simulation results for the tensions from the mechanical model showed a similar change trend, and the value was slightly higher. A biomechanical model of the Ilizarov external fixator was derived and verified through calculations, simulations and experiments. The change law of the adjustable forces and the tensions existing in the broken sheep tibias is presented herein, and offers a helpful contribution to orthopedic treatment.

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Circular trajectory weaving welding control algorithm based on space transformation principle

Cited by 8 publications

References 8 publications

Digital Twin Virtual Welding Approach of Robotic Friction Stir Welding Based on Co-Simulation of FEA Model and Robotic Model

Digital Twin Virtual Welding Approach of Robotic Friction Stir Welding Based on Co-Simulation of FEA Model and Robotic Model

Towards a Uniform Welding Quality: A Novel Weaving Welding Control Algorithm Based on Constant Heat Input

Screw Analysis, Modeling and Experiment on the Mechanics of Tibia Orthopedic with the Ilizarov External Fixator

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