A General Algorithm of Rotating/tilting Positioner InverseKinematics for Robotic Arc Welding Off-line Programming

Off-line programming provides an essential link between CAD and CAM, whose development should result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is a major application area, where manual programming is a very tedious job. Off-line programming is a constructive way to solve the problem. The inverse kinematics algorithm of robot and positioner is the foundation of the off-line programming system. Although previously there were some researchers who studied the positioner inverse kinematics algorithm, they only focused on a special solution of the positioner inverse kinematics, which is the solution at down-hand welding position. However, in welding production, welding position other than down-hand position is also needed. A method for representing welding position was introduced. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented.     

Double global optimum genetic algorithm–particle swarm optimization-based welding robot path planning

Spot-welding robots have a wide range of applications in manufacturing industries. There are usually many weld joints in a welding task, and a reasonable welding path to traverse these weld joints has a significant impact on welding efficiency. Traditional manual path planning techniques can handle a few weld joints effectively, but when the number of weld joints is large, it is difficult to obtain the optimal path. The traditional manual path planning method is also time consuming and inefficient, and cannot guarantee optimality. Double global optimum genetic algorithm–particle swarm optimization (GA-PSO) based on the GA and PSO algorithms is proposed to solve the welding robot path planning problem, where the shortest collision-free paths are used as the criteria to optimize the welding path. Besides algorithm effectiveness analysis and verification, the simulation results indicate that the algorithm has strong searching ability and practicality, and is suitable for welding robot path planning.     

Industrial robot layout based on operation sequence optimisation

The robot layout is one of the primary problems in the robot work cell design. An optimal layout not only makes the robotic end-effector reach the desired position with the desired orientation, but also minimises the robot cycle time for completing a given task with collision avoidance. There may be many feasible robot operation sequences for a given task. The optimisation of operation sequence for a robot placed in a fixed location is NP-complete. There may be different optimal operation sequences as the robot is placed in the different locations. Hence the problem of robot layout is quite complex. This paper presents a method of industrial robot layout based on operation sequence optimisation. The robot motion control model with velocity, acceleration and jerk is established. The feasible space of robot base is calculated and then divided into discrete grids before the optimisations. Then the ant colony algorithm is applied to optimise the operation sequence for each grid. The adjacent grids are merged or divided enough times to form the bigger grids. The pattern search algorithm is adopted to solve the local optimal position and orientation of the robot base in each big grid, and the global optimal layout is found through the comparison of the local solutions. The industrial robot layout method has been applied to the work cell design for car door welding.     

Optimization of GMA welding process using the dual response approach

Disturbances and changes in the welding working environment lead to possible variations in the output variables associated with weld quality. In order to enhance weld quality, it is essential to optimize the welding process by taking the variance as well as the average value of the output variables into consideration. In this study, the dual response approach is adopted to determine the welding process parameters, which produce the target value with minimal variance. The dual response approach optimizes the penetration in gas metal arc (GMA) welding through the procedures as follows. First, the regression models of the mean value and standard deviation of the penetration are induced through regression analysis. Subsequently, an optimization algorithm based on the regression models and constraints is applied to determine the welding process parameters, which generate the desired penetration with minimized variance. In particular, the genetic algorithm, a global optimization algorithm, is adopted in this study to determine the optimal solution.     

A branch and bound algorithm for optimal cyclic scheduling in a robotic cell with processing time windows

A branch and bound algorithm is described for optimal cyclic scheduling in a robotic cell with processing time windows. The objective is to minimise the cycle time by determining the exact processing time on each machine which is limited within a time window. The problem is formulated as a set of prohibited intervals of the cycle time, which is usually applied in the robotic cyclic scheduling problem with fixed processing times. Since both bounds of these prohibited intervals are linear expressions of the processing times, we divide these prohibited intervals into a series of the subsets and transform the problem into enumerating the non-prohibited intervals of cycle time in each subset. This enumeration procedure is completed by an efficient branch and bound algorithm, which could find an optimal solution by enumerating partial non-prohibited intervals. Computational results on the benchmark instances and randomly generated test instances indicate that the algorithm is effective.     

Robot arc welding task sequencing using genetic algorithms

This paper addresses welding task sequencing for robot arc welding process planning. Although welding task sequencing is an essential step in welding process planning, it has been considered through empirical knowledge, rather than a systematic approach. Thus, an effective task sequencing method for robot arc welding is required. Welding operations can be classified by the number of weldlines and layers. Genetic algorithms are applied to tackle those welding task sequencing problems in productivity and welding quality aspects. A genetic algorithm for the Traveling Salesman Problem (TSP) is utilized to determine welding task sequencing for a multiweldline-singlepass problem. Further, welding task sequencing for multiweldline-multipass welding is investigated and appropriate genetic algorithms are introduced. A random key genetic algorithm is presented to solve multi-robot welding task sequencing: mutliweldline with multiple robots. Finally, the genetic algorithms are implemented for the welding task sequencing of three-dimensional weld plate assemblies. Various simulation tests for a welded structure are performed to find the combination of genetic algorithm parameters suitable to weld sequencing problems and to verify the quality of genetic algorithm solutions. Robot operations for weld sequences are simulated graphically using the robot simulation software IGRIP.     

Robust identification of weld seam based on region of interest operation

For welding path determination, the use of vision sensors is more effective compared with complex offline programming and teaching in small to medium volume production. However, interference factors such as scratches and stains on the surface of the workpiece may affect the extraction of weld information. In the obtained weld image, the weld seams have two distinct features related to the workpiece, which are continuous in a single process and separated from the workpiece’s gray value. In this paper, a novel method is proposed to identify the welding path based on the region of interest (ROI) operation, which is concentrated around the weld seam to reduce the interference of external noise. To complete the identification of the entire welding path, a novel algorithm is used to adaptively generate a dynamic ROI (DROI) and perform iterative operations. The identification accuracy of this algorithm is improved by setting the boundary conditions within the ROI. Moreover, the experimental results confirm that the coefficient factor used for determining the ROI size is a pivotal influencing factor for the robustness of the algorithm and for obtaining an optimal solution. With this algorithm, the welding path identification accuracy is within 2 pixels for three common butt weld types.The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-020-00325-y     

Optical Sensor for real-time Monitoring of CO(2) Laser Welding Process

An optical sensor for real-time monitoring of laser welding based on a spectroscopic study of the optical emission of plasma plumes has been developed. The welding plasma's electron temperature was contemporarily monitored for three of the chemical species that constitute the plasma plume by use of related emission lines. The evolution of electron temperature was recorded and analyzed during several welding procedures carried out under various operating conditions. A clear correlation between the mean value and the standard deviation of the plasma's electron temperature and the quality of the welded joint has been found. We used this information to find optimal welding parameters and for real-time detection of weld defects such as crater formation, lack of penetration, weld disruptions, and seam oxidation.     

高速重复扫描激光塑料焊接工艺研究

目的 提高PA66塑料的焊缝剪切强度,达到实际生产要求.方法 采用高速扫描振镜对PA66塑料进行扫描激光焊接,分析重复焊接次数对塑料焊缝外观及剪切强度的影响,并且对焊缝截面进行测试,分析工艺参数对焊缝截面的影响规律.通过对工艺参数(激光平均功率、重复焊接次数、焊接速度、离焦量)进行四因素四水平正交实验,得到焊缝剪切强度...     

Morphology and strength of acrylonitrile butadiene styrene welds performed by robotic friction stir welding

The aim of this study is to examine the main factors affecting friction stir welding (FSW) of acrylonitrile butadiene styrene (ABS) plates, performed by a robotic system developed to this purpose. Welds were carried out using a tool with stationary shoulder and an external heating system. The welding parameters studied were the axial force, rotational and traverse speeds and temperature of the tool. The major novelty is to perform FSW of a polymer in a robotic system and to study the influence of the axial force on weld quality. In a robotic solution the control of axial force allows to eliminate robot positional errors and guarantee the contact between the FSW tool and the work pieces. Strength and strain properties of the welds are evaluated and correlated with the morphology of the welded zone. A comparison between welds produced in the robotic FSW system and in a dedicated FSW machine is presented. It is shown the feasibility of robotic FSW of ABS without deteriorating the mechanical properties of the welds in relation to those produced in the dedicated FSW machine.     

Adjoint-based optimization of thermo-fluid phenomena in welding processes

A method is developed for optimizing the complex thermo-fluid phenomena that occur in welding processes where fluid convection is present. A mathematical model of a typical welding problem which includes conservation of mass, momentum and energy, and assumes that the process is steady in the frame of reference moving with the heat source is considered. An optimal control problem in which the heat input from the heat source is determined to ensure a prescribed geometry of the weld is formulated and solved. The problem is solved with a gradient-based optimization approach in which the gradient (sensitivity) of the cost functional with respect to the control variables is determined using a suitably defined adjoint system. An important aspect of the problem is that it is of the free-boundary type. Therefore it is necessary to use methods of the shape calculus to derive the adjoint equations. A number of computational results which validate our approach and feature qualitatively different flow patterns in problems with different material properties are presented.     

Control of submerged arc weld penetration by radiographic means

The application of real-time radiography for in-process weld quality evaluation is discussed. The advantages of this technique are on-line testing of weld penetration and the possibility of using this information for welding current control. The experimental system developed includes the arc welding unit, the welding manipulator, the real-time X-ray machine and the videorecording and computerized image processing units. In this system welding current can be remotely controlled during weld observation. The experimental results are demonstrated for the submerged arc welding process. In this process the welding pool is covered by a thick layer of welding flux and is therefore optically invisible. By using computer data on the grey levels of the weld images and their histogram distributions, the three-dimensional shape of the submerged arc pool can be recognized, image-digitized and analysed in real time at the rate of 30 frames per second. The depth of the welding pool which characterizes the weld penetration is a very important characteristic of the weld quality. This characteristic can be measured in real time and used for weld tracking and welding current control.     

Ta/Ni/Mo异种薄板激光熔钎焊正交试验探究

目的探究Ta/Mo异种薄板激光熔钎焊的最佳焊接工艺参数。方法设计正交试验方案,得出理论最优工艺参数。采用SL-08型Nd:YAG脉冲激光焊机对薄板完成焊接得到焊接接头;通过微机控制电子万能试验机测试焊接接头的抗拉强度;通过显微硬度计测量焊接接头显微硬度;通过OM测试方法观察焊缝组织。并通过焊接接头的性能对得出的最优工艺参数进行验证。结果在最佳焊接工艺参数下,接头的最大平均抗拉强度为230 MPa,接近Ta母材的抗拉强度,拉伸试样断裂发生在近Ta热影响区;焊缝表面连续,可看到清晰的鱼鳞纹,焊缝背面宽度均匀,焊缝成形良好;焊缝中心区域出现了针状共晶组织,热影响区的晶粒都呈现不同程度的长大现象;形成接头的焊缝区硬度最高,钼母材次之,钽母材最小。结论通过正交试验得出的最优工艺参数是准确的,Ta/Mo异种薄板最佳焊接工艺参数为:激光功率P为20.8 W(激光功率百分比为26%),脉宽T为5.5 ms,脉冲频率f为4.0 Hz。     

304不锈钢与PA66塑料激光焊接工艺研究

目的 研究304不锈钢和PA66(尼龙)的焊接工艺,提高焊缝剪切强度。方法 采用500 W光纤激光器对异种材料进行搭接焊接实验,对激光功率、焊接速度、离焦量、焊接次数进行四因素四水平正交实验,并且测试焊缝剪切强度。结果 当激光功率为350 W,焊接速度为600 mm/s,离焦量为1 mm,焊接次数为3时,焊缝剪切强度达到最大的58 MPa。极差分析结果表明,影响焊缝剪切强度的因素依次为激光功率、离焦量、焊接速度、焊接次数。结论 微观结构分析结果表明,焊缝在PA66塑料侧呈现韧性断裂;在304不锈钢侧呈现韧性脱落,塑料和不锈钢有紧密的贴合,这种结构有利于提高焊缝的剪切强度。     

FEM prediction of welding residual stresses in a SUS304 girth-welded pipe with emphasis on stress distribution near weld start/end location

A finite element approach based on Quick Welder software is developed to simulate welding temperature field and welding residual stress distribution in a 3D multi-pass girth-welded pipe model. The characteristics of welding residual stress distributions in a SUS304 stainless steel pipe induced by heating with a tungsten inert gas arc welding torch are investigated numerically. Meanwhile, an emphasis is focused on examining the welding residual stress distributions in and near the weld start/end location. Moreover, the residual stresses predicted by the present computational approach are compared with the measured data; and the comparison suggests that the numerical simulation method has basically captured the feature of welding residual stress distribution near the weld start/end region. The numerical simulation results show that both the hoop and the axial residual stresses near the weld start/end region have sharp gradients and are significantly different from those in the steady range.     

焊接机器人系统通信的实现

针对自行开发的弧焊机器人系统 ,包括焊接机械臂、变位机、专用电源和传感系统 ,进行了通信系统的设计并介绍了软件和硬件的实现     

大厚度奥氏体不锈钢筒体填丝激光焊接变形和应力分析

目的 研究大厚度奥氏体不锈钢筒体填丝激光焊接,优化结构设计和工艺设计。方法 建立大厚度奥氏体不锈钢筒体填丝激光焊接数值分析模型,通过数值模拟的方法,定量分析大厚度奥氏体不锈钢筒体焊接变形和应力。结果 零件下部38 mm厚焊缝位置处的最大径向收缩量为1.2 mm;零件下部60 mm厚焊缝位置处的最大径向收缩量为2.0 mm;零件中部60 mm厚焊缝位置处的最大径向收缩量为1.9 mm;零件上部60 mm厚焊缝位置处的最大径向收缩量为1.8 mm。填丝激光焊接轴向收缩量为0.55 mm。焊接残余应力最大值在450 MPa左右,应力主要分布在焊缝附近。热处理后,焊接残余应力都有明显降低,最大残余应力从450 MPa左右降低到200 MPa左右,焊接残余应力范围存在一定程度减小;焊接残余变形变化较小,热处理后某些位置的变形略微有所增大。结论 模拟结果表明,大厚度奥氏体不锈钢筒体填丝激光焊接变形和应力在可接受范围内,焊后热处理对释放残余应力有重要作用。     

Prediction and optimization of friction welding parameters for super duplex stainless steel (UNS S32760) joints

Friction welding finds widespread industrial use as a mass production process for joining materials. Friction welding process allows welding of several materials that are extremely difficult to fusion weld. Friction welding process parameters play a significant role in making good quality joints. To produce a good quality joint it is important to set up proper welding process parameters. This can be done by employing optimization techniques. This paper presents a multi objective optimization method for optimizing the process parameters during friction welding process. The proposed method combines the response surface methodology (RSM) with an intelligent optimization algorithm, i.e. genetic algorithm (GA). Corrosion resistance and impact strength of friction welded super duplex stainless steel (SDSS) (UNS S32760) joints were investigated considering three process parameters: friction force (F), upset force (U) and burn off length (B). Mathematical models were developed and the responses were adequately predicted. Direct and interaction effects of process parameters on responses were studied by plotting graphs. Burn off length has high significance on corrosion current followed by upset force and friction force. In the case of impact strength, friction force has high significance followed by upset force and burn off length. Multi objective optimization for maximizing the impact strength and minimizing the corrosion current (maximizing corrosion resistance) was carried out using GA with the RSM model. The optimization procedure resulted in the creation of nondominated optimal points which can aid the process operator to fix the input control variables. The selection of a point from the Pareto front will always be a trade-off between the corrosion resistance and impact strength of the weld depending on the application.     

A tabu search algorithm with solution space partition and repairing procedure for cyclic robotic cell scheduling problem

This paper proposes a tabu search (TS) algorithm to solve an NP-hard cyclic robotic scheduling problem. The objective is to find a cyclic robot schedule that maximises the throughput. We first formulate the problem as a linear program, provided that the robot move sequence is given, and reduce the problem to searching for an optimal robot move sequence. We find that the solution space can be divided into some specific subspaces by the maximal number of works-in-process. Then, we propose a TS algorithm to synchronously perform local searches in each subspace. To speed up our algorithm, dominated subspaces are eliminated by lower and upper bounds of the cycle time during the iterations. In the TS, a constructive heuristic is developed to generate initial solutions for each subspace and a repairing procedure is proposed to maintain the feasibility of the solutions generated in the initialisation stage and the neighbours search process. Computational comparison both on benchmark instances and randomly generated instances indicates that our algorithm is efficient for the cyclic robotic scheduling problem.     

Minimising idle times in cluster tools in the semiconductor industry

This paper is dedicated to the problem of sequencing handler's moves in cluster tools in the semiconductor industry. A suboptimal sequence of the handler's moves usually leads to long idle times in the cluster tool's chambers and hence longer makespan and lower throughput. Therefore, an effective algorithm that minimises idle times in the cluster tool's chambers is required. An algorithm called MinBIT (minimising bottleneck idle time) is presented as a new method for sequencing the handler's moves. The MinBIT algorithm gives priority to the bottleneck stage, and thus leads to a reduction in unnecessary idle times and hence a shorter makespan. We compared the MinBIT algorithm with other algorithms. Our algorithm achieved best performance in 98% of the cases. In the other 2% of the cases it achieved second or third best performance. The computational results show that the MinBIT algorithm can improve the performance of a cluster tool by up to 10%. A comparison between the MinBIT solutions and the optimal solutions found by using branch and bound, shows that the deviation between them ranged between 0% and 0.22%, which indicates that MinBIT gives optimal or near optimal results.