Instable acoustic elasticity phenomenon in welding residual stress field

Aiming at the path planning problem of synchronous dual-robot welding process of the hand pallet truck frame main, the multiple traveling salesman problem(MTSP) was transformed into a traveling salesman problem(TSP) by introducing virtual points, and weld lines were encoded by transposition express. An artificial bee colony(ABC) algorithm was adopt to build a mathematical model of dual-robot synchronous welding based on a state transfer strategy, and an approximate solution of global optimal welding path was calculated by simulation. Then a simulation experiment with ABC algorithm was conducted and compared with the improved adaptive genetic algorithm and artificial fish swarm algorithm. The result shows that the ABC algorithm has a faster convergence speed. It possesses an essence of good repeatability, and can obtain a shorter welding time. The dual-robot path planning method based on ABC algorithm can deal with dual-robot simultaneous welding problem of the pallet truck frame effectively.