Fabrication of curved overhanging thin-walled structure with robotic wire and arc additive manufacturing (RWAAM)

2019 ◽  
Vol 47 (1) ◽  
pp. 102-110
Author(s):  
Yifeng Li ◽  
Xunpeng Qin ◽  
Qiang Wu ◽  
Zeqi Hu ◽  
Tan Shao
Keyword(s):  
Additive Manufacturing ◽  
Weld Pool ◽  
Industrial Robot ◽  
Curve Surface ◽  
Industrial Robots ◽  
Force Model ◽  
Content Type ◽  
Forming Characteristics ◽  
Thin Walled ◽  
Torch Angle

Purpose Robotic wire and arc additive manufacturing (RWAAM) is becoming more and more popular for its capability of fabricating metallic parts with complicated structure. To unlock the potential of 6-DOF industrial robots and improve the power of additive manufacturing, this paper aims to present a method to fabricate curved overhanging thin-walled parts free from turn table and support structures. Design/methodology/approach Five groups of straight inclined thin-walled parts with different angles were fabricated with the torch aligned with the inclination angle using RWAAM, and the angle precision was verified by recording the growth of each layer in both horizontal and vertical directions; furthermore, the experimental phenomena was explained with the force model of the molten pool and the forming characteristics was investigated. Based on the results above, an algorithm for fabricating curved overhanging thin-walled part was presented and validated. Findings The force model and forming characteristics during the RWAAM process were investigated. Based on the result, the influence of the torch orientation on the weld pool flow was used to control the pool flow, then a practical algorithm for fabricating curved overhanging thin-walled part was proposed and validated. Originality/value Regarding the fabrication of curved overhanging thin-walled parts, given the influences of the torch angles on the deposited morphology, porosity formation rate and weld pool flow, the flexibility of 6-DOF industrial robot was fully used to realize instant adjustment of the torch angle. In this paper, the deposition point and torch orientation of each layer of a robotic fabrication path was determined by the contour equation of the curve surface. By adjusting the torch angle, the pool flow was controlled and better forming quality was acquired.

Optimization design of drive system for industrial robots based on dynamic performance

2017 ◽  
Vol 44 (6) ◽  
pp. 765-775 ◽  
Author(s):  
LianZheng Ge ◽  
Jian Chen ◽  
Ruifeng Li ◽  
Peidong Liang
Keyword(s):  
Optimization Model ◽  
Optimization Problem ◽  
Industrial Robot ◽  
Dynamic Performance ◽  
System Optimization ◽  
Drive System ◽  
Industrial Robots ◽  
Mixed Integer ◽  
Light Weight ◽  
Content Type

Purpose The global performance of industrial robots partly depends on the properties of drive system consisting of motor inertia, gearbox inertia, etc. This paper aims to deal with the problem of optimization of global dynamic performance for robotic drive system selected from available components. Design/methodology/approach Considering the performance specifications of drive system, an optimization model whose objective function is composed of working efficiency and natural frequency of robots is proposed. Meanwhile, constraints including the rated and peak torque of motor, lifetime of gearbox and light-weight were taken into account. Furthermore, the mapping relationship between discrete optimal design variables and component properties of drive system were presented. The optimization problem with mixed integer variables was solved by a mixed integer-laplace crossover power mutation algorithm. Findings The optimization results show that our optimization model and methods are applicable, and the performances are also greatly promoted without sacrificing any constraints of drive system. Besides, the model fits the overall performance well with respect to light-weight ratio, safety, cost reduction and others. Practical implications The proposed drive system optimization method has been used for a 4-DOF palletizing robot, which has been largely manufactured in a factory. Originality/value This paper focuses on how the simulation-based optimization can be used for the purpose of generating trade-offs between cost, performance and lifetime when designing robotic drive system. An applicable optimization model and method are proposed to handle the dynamic performance optimization problem of a drive system for industrial robot.

scholarly journals A new joint friction model for parameter identification and sensor-less hand guiding in industrial robots

2020 ◽  
Vol 47 (6) ◽  
pp. 847-857
Author(s):  
Guanghui Liu ◽  
Qiang Li ◽  
Lijin Fang ◽  
Bing Han ◽  
Hualiang Zhang
Keyword(s):  
Industrial Robot ◽  
Angular Displacement ◽  
Weighted Least Squares ◽  
Friction Model ◽  
Industrial Robots ◽  
Model Parameters ◽  
Dynamic Parameters ◽  
Content Type ◽  
Joint Friction ◽  
Six Dof

Purpose The purpose of this paper is to propose a new joint friction model, which can accurately model the real friction, especially in cases with sudden changes in the motion direction. The identification and sensor-less control algorithm are investigated to verify the validity of this model. Design/methodology/approach The proposed friction model is nonlinear and it considers the angular displacement and angular velocity of the joint as a secondary compensation for identification. In the present study, the authors design a pipeline – including a manually designed excitation trajectory, a weighted least squares algorithm for identifying the dynamic parameters and a hand guiding controller for the arm’s direct teaching. Findings Compared with the conventional joint friction model, the proposed method can effectively predict friction factors during the dynamic motion of the arm. Then friction parameters are quantitatively obtained and compared with the proposed friction model and the conventional friction model indirectly. It is found that the average root mean square error of predicted six joints in the proposed method decreases by more than 54%. The arm’s force control with the full torque using the estimated dynamic parameters is qualitatively studied. It is concluded that a light-weight industrial robot can be dragged smoothly by the hand guiding. Practical implications In the present study, a systematic pipeline is proposed for identifying and controlling an industrial arm. The whole procedure has been verified in a commercial six DOF industrial arm. Based on the conducted experiment, it is found that the proposed approach is more accurate in comparison with conventional methods. A hand-guiding demo also illustrates that the proposed approach can provide the industrial arm with the full torque compensation. This essential functionality is widely required in many industrial arms such as kinaesthetic teaching. Originality/value First, a new friction model is proposed. Based on this model, identifying the dynamic parameter is carried out to obtain a set of model parameters of an industrial arm. Finally, a smooth hand guiding control is demonstrated based on the proposed dynamic model.

Numerical study of heat transfer characteristics in positional wire and arc additive manufacturing

2020 ◽  
Vol 26 (9) ◽  
pp. 1627-1635
Author(s):  
Dongqing Yang ◽  
Jun Xiong ◽  
Rong Li
Keyword(s):  
Heat Transfer ◽  
Finite Element ◽  
Additive Manufacturing ◽  
Temperature Distribution ◽  
Finite Element Model ◽  
Heat Dissipation ◽  
Element Model ◽  
Heat Transfer Characteristics ◽  
Content Type ◽  
Thin Walled

Purpose This paper aims to fabricate inclined thin-walled components using positional wire and arc additive manufacturing (WAAM) and investigate the heat transfer characteristics of inclined thin-walled parts via finite element analysis method. Design/methodology/approach An inclined thin-walled part is fabricated in gas metal arc (GMA)-based additive manufacturing using a positional deposition approach in which the torch is set to be inclined with respect to the substrate surface. A three-dimensional finite element model is established to simulate the thermal process of the inclined component based on a general Goldak double ellipsoidal heat source and a combined heat dissipation model. Verification tests are performed based on thermal cycles of locations on the substrate and the molten pool size. Findings The simulated results are in agreement with experimental tests. It is shown that the dwell time between two adjacent layers greatly influences the number of the re-melting layers. The temperature distribution on both sides of the substrate is asymmetric, and the temperature peaks and temperature gradients of points in the same distance from the first deposition layer are different. Along the deposition path, the temperature distribution of the previous layer has a significant influence on the heat dissipation condition of the next layer. Originality/value The established finite element model is helpful to simulate and understand the heat transfer process of geometrical thin-walled components in WAAM.

A numerical prediction of residual stress for a thin-walled part with geometrical features fabricated by GMA-based additive manufacturing

2019 ◽  
Vol 26 (2) ◽  
pp. 299-308
Author(s):  
Rong Li ◽  
Jun Xiong
Keyword(s):  
Residual Stress ◽  
Additive Manufacturing ◽  
Stress Distribution ◽  
Residual Stresses ◽  
Residual Stress Distribution ◽  
Stress Distributions ◽  
Content Type ◽  
Geometrical Features ◽  
Longitudinal Residual Stress ◽  
Thin Walled

Purpose An accurate prediction of process-induced residual stress is necessary to prevent large distortion and cracks in gas metal arc (GMA)-based additive manufactured parts, especially thin-walled parts. The purpose of this study is to present an investigation into predicting the residual stress distributions of a thin-walled component with geometrical features. Design/methodology/approach A coupled thermo-mechanical finite element model considering a general Goldak double ellipsoidal heat source is built for a thin-walled component with geometrical features. To confirm the accuracy of the model, corresponding experiments are performed using a positional deposition method in which the torch is tilted from the normal direction of the substrate. During the experiment, the thermal cycle curves of locations on the substrate are obtained by thermocouples. The residual stresses on the substrate and part are measured using X-ray diffraction. The validated model is used to investigate the thermal stress evolution and residual stress distributions of the substrate and part. Findings Decent agreements are achieved after comparing the experimental and simulated results. It is shown that the geometrical feature of the part gives rise to an asymmetrical transversal residual stress distribution on the substrate surface, while it has a minimal influence on the longitudinal residual stress distribution. The residual stress distributions of the part are spatially uneven. The longitudinal tensile residual stress is the prominent residual stress in the central area of the component. Large wall-growth tensile residual stresses, which may cause delamination, appear at both ends of the component and the substrate–component interfaces. Originality/value The predicted residual stress distributions of the thin-walled part with geometrical features are helpful to understand the influence of geometry on the thermo-mechanical behavior in GMA-based additive manufacturing.

Curved-layered material extrusion modeling for thin-walled parts by a 5-axis machine

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xiaojing Feng ◽  
Bin Cui ◽  
Yaxiong Liu ◽  
Lianggang Li ◽  
Xiaojun Shi ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Surface Roughness ◽  
Additive Manufacturing ◽  
Layered Material ◽  
Bottom Surface ◽  
Motion Mechanism ◽  
Content Type ◽  
Material Extrusion ◽  
Thin Walled ◽  
Five Axis

Purpose The purpose of this paper is to solve the problems of poor mechanical properties, high surface roughness and waste support materials of thin-walled parts fabricated by flat-layered additive manufacturing process. Design/methodology/approach This paper proposes a curved-layered material extrusion modeling process with a five-axis motion mechanism. This process has advantages of the platform rotating, non-support printing and three-dimensional printing path. First, the authors present a curved-layered algorithm by offsetting the bottom surface into a series of conformal surfaces and a toolpath generation algorithm based on the geodesic distance field in each conformal surface. Second, they introduce a parallel five-axis printing machine consisting of a printing head fixed on a delta-type manipulator and a rotary platform on a spherical parallel machine. Findings Mechanical experiments show the failure force of the five-axis printed samples is 153% higher than that of the three-axis printed samples. Forming experiments show that the surface roughness significantly decreases from 42.09 to 18.31 µm, and in addition, the material consumption reduces by 42.90%. These data indicate the curved-layered algorithm and five-axis motion mechanism in this paper could effectively improve mechanical properties and the surface roughness of thin-walled parts, and realize non-support printing. These methods also have reference value for other additive manufacturing processes. Originality/value Previous researchers mostly focus on printing simple shapes such as arch or “T”-like shape. In contrast, this study sets out to explore the algorithm and benefits of modeling thin-walled parts by a five-axis machine. Several validated models would allow comparability in five-axis printing.

Uncertainty analysis and evaluation of measurement of the positioning repeatability for industrial robots

2018 ◽  
Vol 45 (4) ◽  
pp. 492-504 ◽  
Author(s):  
Yang Chuangui ◽  
Liu Xingbao ◽  
Yue Xiaobin ◽  
Mi Liang ◽  
Wang Junwen ◽  
...  
Keyword(s):  
Probability Distribution Function ◽  
Design Methodology ◽  
Industrial Robot ◽  
Measurement Model ◽  
Measurement Procedure ◽  
Industrial Robots ◽  
Key Factors ◽  
Content Type ◽  
Normal Distributions ◽  
Analysis And Evaluation

PurposeThis paper aims to solve the nonlinear problem in the uncertainty evaluation of the measurement of the positioning repeatability (RP) of industrial robots and provide guidance to restrict the uncertainty of measurement of RP (uRP).Design/methodology/approachFirstly, some uncertain sources existing in the measurement procedure of RP are identified. Secondly, the probability distribution function (PDF) of every source is established on the basis of its measurements. Some spatial combined normal distributions are adopted. Then, a method, based on Monte Carlo method (MCM) and established measurement model, is developed for the estimation ofuRP. Thirdly, some tests are developed for the identification and validation of the selected PDFs of uncertain sources. Afterwards, the proposed method is applied for the evaluation and validation of theuRP. Finally, influence analyses of some key factors are proposed for the quantification of their relative contributions touRP.FindingsResults show that the proposed method can reasonably and objectively estimate theuRPof the selected industrial robot, and changes of the industrial robots’ position and the laser trackers measurement are correlated. Additionally, theuRPof the selected industrial robot can be restricted by using the results of its key factors onuRP.Originality/valueThis paper proposes the spatial combined normal distribution to model the uncertainty of the repeatability of the laser tracker and industrial robot. Meanwhile, the proposed method and influence analyses can be used in estimating and restricting theuRPand thus useful in determining whether the RP of a tested industrial robot meets its requirements.

Practical application of a safe human-robot interaction software

2020 ◽  
Vol 47 (3) ◽  
pp. 359-368 ◽  
Author(s):  
Mustafa Can Bingol ◽  
Omur Aydogmus
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Wavelet Packet ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Robot Interaction ◽  
Content Type ◽  
Depth Sensors ◽  
Working Space ◽  
Vision Module

Purpose Because of the increased use of robots in the industry, it has become inevitable for humans and robots to be able to work together. Therefore, human security has become the primary noncompromising factor of joint human and robot operations. For this reason, the purpose of this study was to develop a safe human-robot interaction software based on vision and touch. Design/methodology/approach The software consists of three modules. Firstly, the vision module has two tasks: to determine whether there is a human presence and to measure the distance between the robot and the human within the robot’s working space using convolutional neural networks (CNNs) and depth sensors. Secondly, the touch detection module perceives whether or not a human physically touches the robot within the same work environment using robot axis torques, wavelet packet decomposition algorithm and CNN. Lastly, the robot’s operating speed is adjusted according to hazard levels came from vision and touch module using the robot’s control module. Findings The developed software was tested with an industrial robot manipulator and successful results were obtained with minimal error. Practical implications The success of the developed algorithm was demonstrated in the current study and the algorithm can be used in other industrial robots for safety. Originality/value In this study, a new and practical safety algorithm is proposed and the health of people working with industrial robots is guaranteed.

The integration of contactless static pose recognition and dynamic hand motion tracking control system for industrial human and robot collaboration

2015 ◽  
Vol 42 (5) ◽  
pp. 416-428 ◽  
Author(s):  
Gilbert Tang ◽  
Seemal Asif ◽  
Phil Webb
Keyword(s):  
Control System ◽  
Motion Tracking ◽  
Industrial Robot ◽  
Integrated System ◽  
Industrial Robots ◽  
Content Type ◽  
Hand Motion ◽  
Pose Recognition ◽  
Gesture Control ◽  
Potential Applications

Purpose – The purpose of this paper is to describe the integration of a gesture control system for industrial collaborative robot. Human and robot collaborative systems can be a viable manufacturing solution, but efficient control and communication are required for operations to be carried out effectively and safely. Design/methodology/approach – The integrated system consists of facial recognition, static pose recognition and dynamic hand motion tracking. Each sub-system has been tested in isolation before integration and demonstration of a sample task. Findings – It is demonstrated that the combination of multiple gesture control methods can increase its potential applications for industrial robots. Originality/value – The novelty of the system is the combination of a dual gesture controls method which allows operators to command an industrial robot by posing hand gestures as well as control the robot motion by moving one of their hands in front of the sensor. A facial verification system is integrated to improve the robustness, reliability and security of the control system which also allows assignment of permission levels to different users.

Role of process parameters during additive manufacturing by direct metal deposition of Inconel 718

2017 ◽  
Vol 23 (5) ◽  
pp. 919-929 ◽  
Author(s):  
Bo Chen ◽  
Jyoti Mazumder
Keyword(s):  
Additive Manufacturing ◽  
Cooling Rate ◽  
Process Parameters ◽  
Manufacturing Process ◽  
Inconel 718 ◽  
Processing Parameters ◽  
Forming Quality ◽  
Content Type ◽  
Forming Characteristics ◽  
The Relationship

Purpose The aim of this research is to study the influence of laser additive manufacturing process parameters on the deposit formation characteristics of Inconel 718 superalloy, the main parameters that influence the forming characteristics, the cooling rate and the microstructure were studied. Design/methodology/approach Orthogonal experiment design method was used to obtain different deposit shape and microstructure using different process parameters by multiple layers deposition. The relationship between the processing parameters and the geometry of the cladding was analyzed, and the dominant parameters that influenced the cladding width and height were identified. The cooling rates of different forming conditions were obtained by the secondary dendrite arm spacing (SDAS). Findings The microstructure showed different characteristics at different parts of the deposit. Cooling rate of different samples were obtained and compared by using the SDAS, and the influence of the process parameters to the cooling rate was analyzed. Finally, micro-hardness tests were done, and the results were found to be in accordance with the micro-structure distribution. Originality/value Relationships between processing parameters and the forming characteristics and the cooling rates were obtained. The results obtained in this paper will help to understand the relationship between the process parameters and the forming quality of the additive manufacturing process, so as to obtain the desired forming quality by appropriate parameters.

Acquisition of welding skills in industrial robots

2015 ◽  
Vol 42 (2) ◽  
pp. 156-166 ◽  
Author(s):  
J.F. Aviles-Viñas ◽  
I. Lopez-Juarez ◽  
R. Rios-Cabrera
Keyword(s):  
Real Time ◽  
Learning Process ◽  
Vision System ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Welding Parameters ◽  
Bead Geometry ◽  
Content Type ◽  
Welding Machine ◽  
Vision Algorithm

Purpose – The purpose of this paper was to propose a method based on an Artificial Neural Network and a real-time vision algorithm, to learn welding skills in industrial robotics. Design/methodology/approach – By using an optic camera to measure the bead geometry (width and height), the authors propose a real-time computer vision algorithm to extract training patterns and to enable an industrial robot to acquire and learn autonomously the welding skill. To test the approach, an industrial KUKA robot and a welding gas metal arc welding machine were used in a manufacturing cell. Findings – Several data analyses are described, showing empirically that industrial robots can acquire the skill even if the specific welding parameters are unknown. Research limitations/implications – The approach considers only stringer beads. Weave bead and bead penetration are not considered. Practical implications – With the proposed approach, it is possible to learn specific welding parameters despite of the material, type of robot or welding machine. This is due to the fact that the feedback system produces automatic measurements that are labelled prior to the learning process. Originality/value – The main contribution is that the complex learning process is reduced into an input-process-output system, where the process part is learnt automatically without human supervision, by registering the patterns with an automatically calibrated vision system.

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