The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding

DOI

10.2991/ifmca-16.2017.67How to use a DOI?

Keywords

Decoupling, Welding robot, 2D Laser sensor, Weld

Abstract

This paper has established the robot model of three-arm and five-degree freedom increasing large scope of traversing welding and given decoupling method of model in "large scope of traversing", "triangle movement of two arms" and "spherical movement of one arm". This has completed the image of using geometrical to calculation the inverse problem of kinematics and has eliminated the blind spots of the motions of welding gun of welding robot[1,2]. With 2D function of laser sensor, it realizes the non-contact detection of weld edge, the estimate of the amount of welding metal filling. Then, it gives a intelligent metal filling strategy of 45 degree horizontal butt weld for many times. The result of test works well.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei Fu
AU  - Li Liu
AU  - Xiaolan Wang
PY  - 2017/03
DA  - 2017/03
TI  - The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding
BT  - Proceedings of the 2016 International Forum on Mechanical, Control and Automation (IFMCA 2016)
PB  - Atlantis Press
SP  - 430
EP  - 436
SN  - 2352-5401
UR  - https://doi.org/10.2991/ifmca-16.2017.67
DO  - 10.2991/ifmca-16.2017.67
ID  - Fu2017/03
ER  -