Adaptive pass planning and optimization for robotic welding of complex joints

作     者：H. C. Fang S. K. Ong A. Y. C. Nee 

作者机构：Department of Mechanical Engineering Faculty ofEngineering National University of SingaporeSingapore 117575 Singapore 

出 版 物：《Advances in Manufacturing》 (先进制造进展（英文版）)

年 卷 期：2017年第5卷第2期

页      面：93-104页

核心收录：

学科分类：080503[工学-材料加工工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the Singapore A*STAR Agency for Science, Technology SERC Industrial Robotic Programme on Robotic Welding of Complex Joint 

主　　题：Robotic welding Multi-pass planning - Pass adjustment Robot path planning 

摘      要：Current industrial robotic welding systems can- not achieve automated solutions for multi-layer multi-pass welding of complex joints due to the presence of non- uniform and irregular welding groove geometries. This paper presents an adaptive pass planning approach for robotic welding of such complex joints. The welding groove is first segmented considering both the variation in groove dimension and the reachability of the robot welding torch. For each welding segment, the welding passes are planned to be in accordance with welding practices, viz., keeping the same number of welding passes in each layer while maintaining consistent welding parameters. An adaptive pass adjustment scheme is developed to address the discrepancies between the simulated results and the actual welding deposition after finishing a few layers of welding. Corresponding robot paths are generated and optimized to ensure minimum joint movement subject to three constraints, viz., reachability, collision-free and singularity avoidance. The proposed approach has been sim- ulated with the arc welding of a Y-type joint found typically in offshore structures.