Advanced Search
LI Xiangwen, WU Hongbao, HONG Bo, LUO Hua, CHEN Yu. V-groove weld tracking model and simulation of rotating arc robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2020, 41(8): 85-89. DOI: 10.12073/j.hjxb.20190814005
Citation: LI Xiangwen, WU Hongbao, HONG Bo, LUO Hua, CHEN Yu. V-groove weld tracking model and simulation of rotating arc robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2020, 41(8): 85-89. DOI: 10.12073/j.hjxb.20190814005

V-groove weld tracking model and simulation of rotating arc robot

More Information
  • Received Date: August 13, 2019
  • Available Online: November 04, 2020
  • By establishing the mathematical model of the torch's spatial attitude when the rotary arc sensor scans the V-groove weld seam, extracting three-dimensional information of welding torch, combining the characteristics of V-groove weld, the transformation matrix between tool coordinate system and base coordinate system of ABB robot after correcting deviation of welding torch is derived. Combining the inverse kinematics of the robot, mathematical model of tracking and correcting deviation of V-groove weld by ABB robot is established, an Asymptotic Particle Swarm Optimization algorithm is proposed for solving the model. Last, the model is simulated and analyzed by using LABVIEW and the algorithm, the left and right tracking deviations and the high and low tracking deviations are obtained. The accuracy and validity of the model and the efficiency of the algorithm are verified, it provides a theoretical basis for the automatic welding of V-groove weld by the combination of rotating arc sensor and ABB robot.
  • 洪波, 姚强, 尹力, 等. 基于Delaunay三角剖分的磁控旋转电弧堆焊自由曲面重建[J]. 焊接学报, 2018, 39(5): 25 − 28. doi: 10.12073/j.hjxb.2018390115

    Hong Bo, Yao Qiang, Yin Li, et al. Reconstruction of free-form surface based on Delaunay triangulation for magnetic control arc surfacing[J]. Transactions of the China Welding Institution, 2018, 39(5): 25 − 28. doi: 10.12073/j.hjxb.2018390115
    Zhu Y J, Wu Z S, Li K, et al. Welding deviation detection method based on weld pool image contour features[J]. China Welding, 2019, 28(2): 35 − 44.
    石永华, 王国荣, YOO W S, 等. 高速旋转电弧传感器的数学模型[J]. 机械工程学报, 2007, 43(11): 25 − 28.

    Shi Yonghua, Wang Guorong, YOO W S, et al. Mathematical model of high speed rotating arc sensor[J]. Chinese Journal of Mechanical Engineering, 2007, 43(11): 25 − 28.
    陈伟荣, 张华, 郑敏, 等. 旋转电弧传感器的结构优化及散热分析[J]. 热加工工艺, 2018, 47(17): 233 − 235.

    Chen Weirong, Zhang Hua, Zheng Min, et al. Structure optimization and heat dissipation analysis of rotating arc sensor[J]. Hot Working Technology, 2018, 47(17): 233 − 235.
    Jeong S K, Lee G Y, Lee W K, et al. Development of high speed rotating arc sensor and seam tracking controller for welding robots[C]//ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No. 01TH8570), IEEE, 2001: 845-850.
    李毅, 陈佳洋, 胡圣贤, 等. 基于旋转电弧的机器人角焊缝跟踪建模及仿真[J]. 中国机械工程, 2018, 29(3): 348 − 352. doi: 10.3969/j.issn.1004-132X.2018.03.015

    Li Yi, Chen Jiayang, Hu Shengxian, et al. Modeling and simulation of robot fillet weld tracking based on rotating arcs[J]. China Machinery Engineering, 2018, 29(3): 348 − 352. doi: 10.3969/j.issn.1004-132X.2018.03.015
    高延锋, 张华, 肖建华. 旋转电弧传感器焊枪空间姿态识别[J]. 焊接学报, 2009, 30(3): 78 − 81.

    Gao Yanfeng, Zhang Hua, Xiao Jianhua. Identification of welding torch attitude based on rotational arc sensor[J]. Transactions of the China Welding Institution, 2009, 30(3): 78 − 81.
    邢红辉, 王保升, 洪磊, 等. 基于MATLAB的六自由度焊接机器人的运动学仿真与轨迹规划[J]. 机械制造与设计工程, 2018, 47(12): 102 − 125.

    Xing Honghui, Wang Baosheng, Hong Lei, et al. Kinematics simulation and trajectory panning of 6-dof welding robot based on MATLAB[J]. Machine Design and Manufacturing Engineering, 2018, 47(12): 102 − 125.
    陈刚, 闫飞, 龚啸, 等. 基于参数优化的最小二乘支持向量机状态估计方法[J]. 电力系统保护与控制, 2011, 49(19): 125 − 128.

    Chen Gang, Yan Fei, Gong Xiao, et al. State estimation of least squares support vector machine based on parameter optimization[J]. Power System Protection and Control, 2011, 49(19): 125 − 128.
    Poddar S, Kumar A. Scale-free PSO for in-run and infield inertial sensor calibration[J]. Measurement, 2019, 14(5): 147 − 153.
  • Related Articles

    [1]SUI Chufan, LIU Zhengjun, AI Xingyu. Effect of ultrasonic vibration on welding hot crack of 6061 aluminum alloy[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2023, 44(1): 122-128. DOI: 10.12073/j.hjxb.20220106002
    [2]YU Weiyuan, WU Baolei, SUN Xuemin, LEI Zhen, SUN Jungang. Wetting behavior of Fe/Sn system under ultrasonic[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2020, 41(2): 12-17. DOI: 10.12073/j.hjxb.20190708002
    [3]LI Xiangwei, FANG Ji, ZHAO Shangchao. Master S-N curve fitting method of welded structure and software development[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2020, 41(1): 80-85. DOI: 10.12073/j.hjxb.20191018001
    [4]WANG Jujin, YANG Guangwu, YANG Bing, WANG Feng. S-N curve analysis of ring welding based on structural stress method[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2019, 40(8): 63-68. DOI: 10.12073/j.hjxb.2019400210
    [5]WANG Jianfeng1,2, SUN Qingjie1,2, MA Jiangkun2, FENG Jicai1,2. Microstructure and mechanical properties of underwater wet welded joint of E40 ship plate steel subjected to ultrasonic vibration[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2018, 39(4): 1-5. DOI: 10.12073/j.hjxb.2018390084
    [6]WEI Guoqian, YUE Xudong, DANG Zhang, HE Yibin. S-N and IEFM combined fatigue life analysis for welded structures[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2017, 38(2): 23-27.
    [7]HU Hui-hui, WANG Dongpo, WU Liangchen, DENG Caiyan. Hot spot stress design S-N curve of ultrasonic impact treated welded joints of medium and low strength steel[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2016, 37(5): 124-128.
    [8]FAN Wenxue, CHEN Furong, XIE Ruijun, TANG Dafu. Analysis of vibration fatigue S-N curve on Q235B steel butt welded joint[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2014, 35(8): 39-42.
    [9]ZHAO Wenzhong, WEI Hongliang, FANG Ji, LI Jitao. The theory and application of the virtual fatigue test of welded structures based on the master S-N curve method[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2014, 35(5): 75-78.
    [10]LIU Xiaochao, WU Chuansong. Effect of ultrasonic vibration on microstructure and mechanical properties of friction stir welded joint of 6061-T4 aluminum alloy[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2014, 35(1): 49-53.
  • Cited by

    Periodical cited type(2)

    1. 单丽娜. 永磁转子屏蔽套焊接工艺研究. 冶金设备. 2023(02): 16-18 .
    2. 孙雅杰,常云龙. 磁控电弧焊接过程及新技术研究进展. 材料导报. 2020(21): 21155-21165 .

    Other cited types(4)

Catalog

    Article views (648) PDF downloads (21) Cited by(6)

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return