Adaptive pass planning and optimization for robotic welding of complex joints

doi:10.1007/s40436-017-0181-x

Advances in Manufacturing ›› 2017, Vol. 5 ›› Issue (2): 93-104.doi: 10.1007/s40436-017-0181-x

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Adaptive pass planning and optimization for robotic welding of complex joints

H. C. Fang, S. K. Ong, A. Y. C. Nee

Department of Mechanical Engineering, Faculty of Engineering, National University of Singapore, Singapore 117575, Singapore

Received:2017-02-28 Revised:2017-05-02 Online:2017-06-25 Published:2017-06-25
Contact: A. Y. C. Nee E-mail:mpeneeyc@nus.edu.sg
Supported by:
This research is supported by the Singapore A*STAR Agency for Science, Technology and SERC Industrial Robotic Programme on Robotic Welding of Complex Joint (Grant No. 1225100006)

Abstract

Abstract:

Current industrial robotic welding systems cannot achieve automated solutions for multi-layer multi-pass welding of complex joints due to the presence of nonuniform 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 simulated with the arc welding of a Y-type joint found typically in offshore structures.

Key words: Robotic welding, Multi-pass planning, Pass adjustment, Robot path planning

H. C. Fang, S. K. Ong, A. Y. C. Nee. Adaptive pass planning and optimization for robotic welding of complex joints[J]. Advances in Manufacturing, 2017, 5(2): 93-104.

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Adaptive pass planning and optimization for robotic welding of complex joints

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