Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

doi:10.1007/s40436-023-00453-1

Advances in Manufacturing ›› 2024, Vol. 12 ›› Issue (1): 94-107.doi: 10.1007/s40436-023-00453-1

• • 上一篇

Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

Yan Liu^1,2,3, Qiu Tang^1,2, Xin-Cheng Tian^1,2

1. School of Control Science and Engineering, Shandong University, Jinan, 250061, People's Republic of China;
2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, 250061, People's Republic of China;
3. School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan, 250101, People's Republic of China

收稿日期:2022-12-08 修回日期:2023-03-13 发布日期:2024-03-14
通讯作者: Yan Liu,E-mail:ly_sucro@sdu.edu.cn E-mail:ly_sucro@sdu.edu.cn
作者简介:Yan Liu was born in Dezhou, China, in 1992. He received his Ph.D. degree in School of Control Science and Engineering from Shandong University, in 2020, and the B.S. degree in School of Automation Engineering from Qingdao University, Qingdao, in 2015. He is currently a post-doctor at Shandong University. His research interests include intelligent manufacturing, robot trajectory planning and control, and the application of robot automatic welding technology on intersecting curve;
Qiu Tang was born in Chongqing, China, in 1994. She received the Ph.D. degree in Control Theory and Control Engineering from Chongqing University, China, in 2020, and the B.S. degree in School of Automation Engineering from Qingdao University, Qingdao, in 2015. She is currently a postdoctor at Shandong University. Her research interests include dynamic and nonlinear process monitoring based on multivariate statistical analysis, datadriven fault detection and diagnosis, and the application of machine learning in process monitoring;
Xin-Cheng Tian was born in Dezhou, China, in 1965. He received the B.S. and M.S. degrees in industrial automation from original Shandong Industrial University, Jinan, China, in 1988 and 1993, respectively, and the Ph.D. degree in guidance, control, and simulation from the Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2000. He is currently a professor at the School of Control Science and Engineering, Shandong University. His main researches are the robot control technology.
基金资助:
The authors thank the National Natural Science Foundation of China (Grant No. 62103234), and the Shandong Provincial Natural Science Foundation (Grant Nos. ZR2021QF027, ZR2022QF031).

Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

Yan Liu^1,2,3, Qiu Tang^1,2, Xin-Cheng Tian^1,2

1. School of Control Science and Engineering, Shandong University, Jinan, 250061, People's Republic of China;
2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, 250061, People's Republic of China;
3. School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan, 250101, People's Republic of China

Received:2022-12-08 Revised:2023-03-13 Published:2024-03-14
Contact: Yan Liu,E-mail:ly_sucro@sdu.edu.cn E-mail:ly_sucro@sdu.edu.cn
Supported by:
The authors thank the National Natural Science Foundation of China (Grant No. 62103234), and the Shandong Provincial Natural Science Foundation (Grant Nos. ZR2021QF027, ZR2022QF031).

摘要/Abstract

摘要： The automatic cutting of intersecting pipes is a challenging task in manufacturing. For improved automation and accuracy, this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single Y-groove. Firstly, it summarizes the intersection forms and introduces a dual-pipe intersection model. Based on this model, the moving three-plane structure (a description unit of the geometric characteristics of the intersecting curve) is constructed, and a geometric model of the branch pipe with a single Y-groove is defined. Secondly, a novel mathematical model for plasma radius and taper compensation is established. Then, the compensation model and groove model are integrated by establishing movable frames. Thirdly, to prevent collisions between the plasma torch and workpiece, the torch height is planned and a branch pipe-rotating scheme is proposed. Through the established models and moving frames, the planned path description of cutting robot is provided in this novel scheme. The accuracy of the proposed method is verified by simulations and robotic cutting experiments.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-023-00453-1

关键词: Automatic groove cutting of intersecting pipes, Model-driven robot path planning, Plasma beam radius and taper compensation

Abstract: The automatic cutting of intersecting pipes is a challenging task in manufacturing. For improved automation and accuracy, this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single Y-groove. Firstly, it summarizes the intersection forms and introduces a dual-pipe intersection model. Based on this model, the moving three-plane structure (a description unit of the geometric characteristics of the intersecting curve) is constructed, and a geometric model of the branch pipe with a single Y-groove is defined. Secondly, a novel mathematical model for plasma radius and taper compensation is established. Then, the compensation model and groove model are integrated by establishing movable frames. Thirdly, to prevent collisions between the plasma torch and workpiece, the torch height is planned and a branch pipe-rotating scheme is proposed. Through the established models and moving frames, the planned path description of cutting robot is provided in this novel scheme. The accuracy of the proposed method is verified by simulations and robotic cutting experiments.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-023-00453-1

Key words: Automatic groove cutting of intersecting pipes, Model-driven robot path planning, Plasma beam radius and taper compensation

Yan Liu, Qiu Tang, Xin-Cheng Tian. Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme[J]. Advances in Manufacturing, 2024, 12(1): 94-107.

参考文献

1 Gu F, Chen X (2013) Design of a automatic cutting device for intersecting curve of steel pipes. Adv Mater Res 647:901–904
2 Maity KP, Bagal DK (2015) Effect of process parameters on cut quality of stainless steel of plasma arc cutting using hybrid approach. Int J Adv Manuf Technol 78(1/4):161–175
3 Liu X, Qiu C, Zeng Q et al (2020) Time-energy optimal trajectory planning for collaborative welding robot with multiple manipulators. Proc Manuf 43:527–534
4 Lauer S, Wiese P, Dryba S et al (2020) Data-driven approach for robot-assisted multi-pass-welding thick sheet metal connections. Proc Manuf 52:95–100
5 Kucuk S (2017) Optimal trajectory generation algorithm for serial and parallel manipulators. Robot Comput-Integr Manuf 48:219–232
6 Shi Q, Zhao J, Kamel AE et al (2021) MPC based vehicular trajectory planning in structured environment. IEEE Access 9:21998–22013
7 Zhu H, Fu J, Kang J (2011) A CAD/CAM system for 5-axis CNC cutting of multi-pipe intersecting curves with grooves. Adv Sci Lett 4:2670–2674
8 Shi L, Tian X (2014) Automation of main pipe-rotating welding scheme for intersecting pipes. Int J Adv Manuf Technol 77(5/8):955–964
9 Shi L, Tian X (2017) Plasma beam radius compensation-integrated torch path planning for CNC pipe hole cutting with welding groove. Int J Adv Manuf Technol 88:1971–1981
10 Ghariblu H, Shahabi M (2019) Path planning of complex pipe joints welding with redundant robotic systems. Robotica 37(6):1020–1032
11 Liu J, Hu S, Shen J et al (2017) Intersection seam of sphere and tube welding robot trajectory optimization based on spatial offset curve. Trans China Weld Inst 38(11):47–50
12 Zhao J, Hu S, Ding W (2011) Mathematical modelling of the intersection seam of sphere and tube based on Matlab. Trans China Weld Inst 32(8):89–92
13 Chen C, Hu S, He D et al (2013) An approach to the path planning of tube-sphere intersection welds with the robot dedicated to J-groove joints. Robot Comput-Integr Manuf 29(4):41–48
14 Mitsi S, Bouzakis K, Mansour G et al (2005) Off-line programming of an industrial robot for manufacturing. Int J Adv Manuf Technol 26(3):262–267
15 Pan Z, Polden J, Larkin N et al (2012) Recent progress on programming methods for industrial robots. Robot Comput-Integr Manuf 28(2):87–94
16 Liu Y, Tang Q, Tian X (2019) A discrete method of sphere-pipe intersecting curve for robot welding by offline programming. Robot Comput-Integr Manuf 57:404–411
17 Zhang Y, Lv X, Xu L (2019) A segmentation planning method based on the change rate of cross-sectional area of single V-groove for robotic multi-pass welding in intersecting pipe-to-pipe joint. Int J Adv Manuf Technol 101(1/4):23–38
18 Craig JJ (2003) Introduction to robotics: mechanics and control, 3rd edn. Prentice Hall, London
19 Xu F (2014) Concise manual for welding process, 2nd edn. Shanghai Science and Technology Press, Shanghai
20 Sharma V, Shahi AS (2014) Effect of groove design on mechanical and metallurgical properties of quenched and tempered low alloy abrasion resistant steel welded joints. Mater Des 53:727–736
21 Chen Y, Wang T (2013) Three-dimensional tool radius compensation for multi-axis peripheral milling. Chin J Mech Eng 26(3):547–554
22 Moreton DN, Durnford R (1999) Three-dimensional tool compensation for a three-axis turning centre. Int J Adv Manuf Technol 15(9):649–654
23 Setsuhara Y, Uchida G, Kawabata K et al (2015) Analysis of dynamic discharge characteristics of plasma jet based on voltage and current measurements using a metal plate. IEEE Trans Plasma Sci 43(11):3821–3826
24 Thanua N, Kumbhar GB (2023) Plasma dynamics-based modeling and analysis of partial discharge in voids inside insulation of power transformer. IEEE Trans Plasma Sci 51(1):284–294
25 Gonzalez JH, Brollo FR, Clausse A (2009) Modeling of the dynamic plasma pinch in plasma focus discharges based in von Karman approximations. IEEE Trans Plasma Sci 37(11):2178–2185
26 HyperthermInc (2015) Powermax65 & powermax85 service manual. http://www.hypertherm.com/en/Service/Manuals/

Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 0

编辑推荐

Metrics

本文评价