scholarly journals Actuator design for arc welding robot

1970 ◽  
Vol 6 (2) ◽  
pp. 48-53
Author(s):  
Anurag Verma ◽  
MM Gor
Keyword(s):  
Dynamic Model ◽  
Arc Welding ◽  
Welding Robot ◽  
Inverse Dynamic ◽  
Typical Application ◽  
Welding Operation ◽  
Engineering And Technology ◽  
Model Determination ◽  
Actuator Design

The present work is an attempt to determine torque required at each joint of 6-Degree of Freedom Arc Welding Robot for typical horizontal fillet welding operation which will be useful for designing actuator. Here, range of welding speed 90mm/min & 2000mm/min is taken. Result obtained at the end of this analysis will be useful for designing actuator capacity for typical application. The methodology adopted for analysis includes development of dynamic model, determination of velocity and acceleration with respect to time and thus determination of torque using velocity-acceleration and dynamic model. Keywords: Inverse Dynamic Analysis; Lagrange-Euler formulation; Arc Welding Robot DOI: 10.3126/kuset.v6i2.4011Kathmandu University Journal of Science, Engineering and Technology Vol.6. No II, November, 2010, pp.48-53

scholarly journals Dynamic Interaction between Manipulator and Omni-Directional Platform

2013 ◽  
pp. 58-72
Author(s):  
G. R. Nikhade ◽  
V. S. Deshpande ◽  
S. S. Chiddarwar
Keyword(s):  
Arc Welding ◽  
Research Work ◽  
Industrial Applications ◽  
Dynamic Interaction ◽  
Shop Floor ◽  
Welding Robot ◽  
Omnidirectional Mobile Robot ◽  
Welding Operation ◽  
Manipulator Link ◽  
Novel Concept

Recent advancements in mechatronics has led to tremendous development of application of robots for industrial applications involving high health hazards, rough working conditions and difficult to reach locations. Robot assisted welding is one such high risk operation for human being. The industrial arc welding robots are either mounted on the floor, table or on overhead rails. In this scenario, the jobs to be welded are brought to shop floor. However, the on-sight joining of big pipes and structures with precision and speed, demands for mobility of welding robot. In this research work, a novel concept of mounting 5-dof welding robot on the omni-directional platform (Omni-WMR) is implemented to provides immense maneuvering mobility to the manipulator. This paper presents the combined dynamic model of omnidirectional mobile robot for welding operation to study the effect of dynamic interaction between manipulator and mobile platform. Dynamic interaction is carried out to find the variation in torque at manipulator link due to the motion of platform as well as its location on the platform. In addition, the variation in torque developed at platform wheels due to positioning the manipulator at two different locations on platform is accessed. For this, two case studies have been discussed to study the effect of dynamic interaction between manipulator and omni-directional platform.

scholarly journals Dynamic model of a self-excited induction generator with fundamental stray load and iron losses

2018 ◽  
Vol 22 (Suppl. 3) ◽  
pp. 797-807
Author(s):  
Mateo Basic ◽  
Dinko Vukadinovic ◽  
Ivan Grgic
Keyword(s):  
Dynamic Model ◽  
Induction Machine ◽  
Induction Machines ◽  
International Standards ◽  
Induction Generator ◽  
Machine Model ◽  
Iron Losses ◽  
Model Determination ◽  
Advanced Model

This paper considers a dynamic model of a self-excited induction generator that takes into account the fundamental stray load and iron losses. The model is de?scribed with the same number of differential equations as the conventional induc?tion machine model. Determination of the stray load and iron losses resistances does not involve any tests other than those imposed by the international standards nor does it require any details about induction machine materials or geometry. The dynamic analysis has been carried out for the case of a wind turbine-driven self-excited induction generator. The steady-state analysis, on the other hand, has been carried out for the case of a load-independent prime mover. The considered advanced model, aside from being compared with the conventional model, has been experimentally validated for two different-efficiency induction machines, both rated 1.5 kW.

Optimal trajectory generation of an industrial welding robot with kinematic and dynamic constraints

2019 ◽  
Vol 47 (1) ◽  
pp. 68-75 ◽  
Author(s):  
Amruta Rout ◽  
Deepak Bbvl ◽  
Bibhuti B. Biswal
Keyword(s):  
Trajectory Planning ◽  
Arc Welding ◽  
Optimal Trajectory ◽  
Pareto Front ◽  
Weld Seam ◽  
Welding Robot ◽  
Content Type ◽  
Multi Objective ◽  
Welding Operation ◽  
Optimal Trajectory Planning

Purpose This paper aims to present an optimal trajectory planning for industrial MOTOMAN MA1440A gas metal arc welding system. A new and efficient evolutionary algorithm, enhanced multi-objective teaching learning-based optimization (EMOTLBO) method, i.e. TLBO with non-dominated sorting approach has been proposed to obtain the optimal joint trajectory for the defined weld seam path. Design/methodology/approach The joint trajectory of the welding robot need to be computed in an optimal manner for proper torch orientation, smooth travel of the robot along the weld path and for achieving higher positional accuracy. This can be achieved by limiting the kinematic and dynamic variations of the robot joints like joint jerks, squared acceleration and torque induced in the joints while travel of the robot along the weld path. Also, the robot travel should be done within minimum possible time for maintaining productivity. This leads to a multi-objective optimization problem which needs to be solved for maintaining proper orientation of the robot end effector. EMOTLBO has been proposed to obtain the Pareto front consisting of optimal solutions. The fuzzy membership function has been used to obtain the optimal solution from the Pareto front with best trade-off between objectives. Findings The proposed method has been implanted in MATLAB R2017a for simulation results. The joint positions have been used to program the robot for performing welding operation along the weld seam. From the simulation and experimental results, it can be concluded that the proposed approach can be effectively used for optimal trajectory planning of MOTOMAN MA 1440 A arc welding robot system as a very smooth and uniform weld bead has been obtained with maximum weld quality. Originality/value In this paper, a novel approach for optimal trajectory planning welding arc robot has been performed. Though trajectory planning of industrial robots has been done before, it has not been done yet for welding robot. The objectives are formulated taking in consideration of requirement of welding process like minimization of joint jerks and torques induced during welding operation due to travel of robot with the effect of arc spatter, minimization of squared acceleration for maintaining constant joint velocity and finally minimization of total travel time for maintaining productivity.

Inductor Saturation Compensation in Three-Phase Three-Wire Voltage-Source Converters via Inverse System Dynamics-I

2020 ◽  
Author(s):  
Ziya Özkan ◽  
Ahmet Masum Hava
Keyword(s):  
Dynamic Model ◽  
Dynamic Performance ◽  
Current Control ◽  
Inverse System ◽  
Voltage Source ◽  
Voltage Source Converter ◽  
Two Phase ◽  
Inverse Dynamic ◽  
Three Phase ◽  
Steady State Current

In three-phase three-wire (3P3W) voltage-source converter (VSC) systems, utilization of filter inductors with deep saturation characteristics is often advantageous due to the improved size, cost, and efficiency. However, with the use of conventional synchronous frame current control (CSCC) methods, the inductor saturation results in significant dynamic performance loss and poor steady-state current waveform quality. This paper proposes an inverse dynamic model based compensation (IDMBC) method to overcome these performance issues. Accordingly, a review of inductor saturation and core materials is performed, and the motivation on the use of saturable inductors is clarified. Then, two-phase exact modelling of the 3P3W VSC control system is obtained and the drawbacks of CSCC have been demonstrated analytically. Based on the exact modelling, the inverse system dynamic model of the nonlinear system is obtained and employed such that the nonlinear plant is converted to a fictitious linear inductor system for linear current regulators to perform satisfactorily.

METHOD FOR ESTIMATING ERRORS IN MEASURING INSTRUMENTS BY THE SPACE CATALOGUE ORBITS

2018 ◽  
pp. 76-84
Author(s):  
K. V. Sorokin ◽  
E. A. Sunarchina
Keyword(s):  
Dynamic Model ◽  
New Method ◽  
Measuring Instruments ◽  
Measuring Instrument ◽  
Software Complex

Improvement of orbits precision is one of the most important tasks of space surveillance catalogue maintenance. The solution of this problem is directly related to an adequate consideration of the errors of the coordinate information from the measuring instruments. The article consideresd a new method for estimating the precision of measuring instruments on the catalog orbits. To carry out such analysis, in PJSC «VIMPEL» special technological program was created. Main results of a study of radar errors with orbits of space surveillance catalogue was presented. Also, the results were compared with data of measuring instrument's calibration software complex. This software complex provides determination of satellite's position with errors less than 10 m. A new dynamic model of measuring instrument errors is proposed.

Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

2010 ◽  
Vol 63 (1) ◽  
pp. 3-23 ◽  
Author(s):  
Peter Paul Pott ◽  
Achim Wagner ◽  
Essameddin Badreddin ◽  
Hans-Peter Weiser ◽  
Markus L. R. Schwarz
Keyword(s):  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Control Application ◽  
Hybrid Kinematics

Determination of Heat Input in Tungsten Inert Gas and Laser Welding of Type Optim 960 QC Structural Steel Using Adams’ Equation for 2-D Heat Distribution

2017 ◽  
Vol 750 ◽  
pp. 45-52
Author(s):  
Sveto Cvetkovski
Keyword(s):  
Laser Welding ◽  
Heat Input ◽  
Arc Welding ◽  
Research Work ◽  
Laser Beam Welding ◽  
Peak Temperature ◽  
Efficiency Coefficient ◽  
Zone Recrystallization ◽  
Welding Processes

The heat input during conventional arc welding processes can be readily calculated knowing the power taken from the power source. The efficiency coefficient can be taken from the appropriate literature standards. Here, the intention of the performed research work was to develop a procedure for determination of heat input in arc and laser welding processes implementing Adams equation - modified Rykalin equation for two dimensional heat distributions (2-D). To realize this idea, it is necessary to determine two characteristic temperatures points in the HAZ with known peak temperature, and to determine distance between them. Implementing measured values for distance in Adams’ equation, heat input in arc welding can be directly determined in arc welded joints.In laser beam welding, the absorption of the beam in the metal is not known, so that the welding heat input cannot be calculated directly, and direct implementation of Adam’s equation is not possible i.e. absorption coefficient has to be determined first, and after that calculation of heat input is possible.The peak temperatures corresponding to specific microstructures can be obtained by performing welding simulation, by the Gleeble 1500 simulator in our case. As one of the peak temperatures, the melting temperature can be used corresponding to the fusion line, so that at least one characteristic peak temperature such as coarse grain zone, fine grin zone, intercritical zone, recrystallization, has to be determined by the simulation.Performed research showed that obtained values for heat input using Adam’s equation correspond pretty well with standard equation for heat input in arc welding.

Sign in / Sign up

Export Citation Format

Share Document