scholarly journals The DESIGN AND CONSTRUCTION OF ROBOTIC ARM ON AUTOMATIC MIG WELDING ROBOT

2021 ◽  
Vol 2 (Oktober) ◽  
pp. 12-21
Author(s):  
Ilham Rizqianto ◽  
Dedy Pradigdo ◽  
Ismanto Setyabudi
Keyword(s):  
Welding Process ◽  
Robotic Arm ◽  
Motor Drive ◽  
Automatic Welding ◽  
Robot Arm ◽  
Welding Robot ◽  
Ansys Simulation ◽  
Automatic Systems ◽  
Selection Of

Abstract:  Tehnlogical advances to date have grown increasingly sophisticated technolgy, especially in robotic technogy which is currently developed to achieve work result that are make human work easier welding process with manual systems need to be switched to automatic systems. The mechanical concept of the arm that will be applied to Automatic Welding Carrier Machine by applying the mechanical concept of a 3D machine which is expected to increase mobility, working range of the tool as well as increasing the quality of automatic welding results. In this research, the method used is experimental research methods and simulations that aim to know the results of the analysis on the mechanics of the robot arm. The data generated after performing calculations with provide a load on the leadscrew of  the compressive stress that occurs i the leadscrew is , the voltage bending is  and the shear stress that occurs is , so that  the lead crew is said to be able to encourge maximum allowable amount of . The torque required by the motor drive to push the received load on the Z ( ) axis is equal to , then the selection of the nema23 stepper motor is stated very capable as a robotic arm mover because have torque . With the loading of the 2020 profile arm rod at  using ansys simulation, the maximum total deformation that may occur is , so that the 2020 profile rod can be said to be safe for use on Automatic Welding Carrier Machine.

Welding Robot Welding Process Research and Development of Intelligent Technology

2013 ◽  
Vol 419 ◽  
pp. 774-777
Author(s):  
Ji Ming Yi ◽  
Min Han
Keyword(s):  
Vision System ◽  
Welding Process ◽  
Depth Information ◽  
Laser Sensor ◽  
Automatic Welding ◽  
Welding Robot ◽  
Existing Problems ◽  
Intelligent Technology ◽  
Welding Direction ◽  
Binocular Vision System

The welding direction of robot and existing problems, the groove plate is difficult to realize automatic welding robot problem, methods using laser sensor and a binocular vision system combines, image and depth information extraction plate groove groove, realize accurate 3D reconstruction.

Tracking Control of Automatic Pipe Cutting Robot with Magnetic Binder

2006 ◽  
Vol 505-507 ◽  
pp. 1201-1206
Author(s):  
Sung Soo Rhim ◽  
Soon Geul Lee
Keyword(s):  
Tracking Control ◽  
Magnetic Force ◽  
Welding Process ◽  
Gravitational Effect ◽  
Welding Robot ◽  
Tracking Errors ◽  
Control Scheme ◽  
Repetitive Learning ◽  
Errors Analysis

An automatic pipe cutting/welding robot with a magnetic binder, which is named APCROM, is developed and its tracking control is studied in this paper. Using magnetic force the four-wheeled mobile robot binds itself to the pipe and executes automatic pipe cutting/welding process. As APCROM rotates around the cylindrical pipe laid in the gravitational field, the gravity effect on the movement of the robot varies. The varying gravitational effect deteriorates the tracking performance of the robot and degrades the quality of the pipe cutting/welding process. To maintain a constant velocity and consistent cutting/welding performance, the authors adopt a repetitive learning controller, which learns through practice the required effort to cancel the tracking errors. Analysis results and experimental results verify the effectiveness of the proposed control scheme.

On the role of stiffness and synchronization in human–robot handshaking

2020 ◽  
Vol 39 (14) ◽  
pp. 1796-1811 ◽  
Author(s):  
Domenico Mura ◽  
Espen Knoop ◽  
Manuel G Catalano ◽  
Giorgio Grioli ◽  
Moritz Bächer ◽  
...  
Keyword(s):  
Personality Traits ◽  
Impedance Control ◽  
Robotic Arm ◽  
Robot Arm ◽  
Passive Behavior ◽  
Arm Motions ◽  
Human Arm ◽  
Human Likeness

This article presents a system for soft human–robot handshaking, using a soft robot hand in conjunction with a lightweight and impedance-controlled robot arm. Using this system, we study how different factors influence the perceived naturalness, and give the robot different personality traits. Capitalizing on recent findings regarding handshake grasp force regulation, and on studies of the impedance control of the human arm, we investigate the role of arm stiffness as well as the kinesthetic synchronization of human and robot arm motions during the handshake. The system is implemented using a lightweight anthropomorphic arm, with a Pisa/IIT Softhand wearing a sensorized silicone glove as the end-effector. The robotic arm is impedance-controlled, and its stiffness changes according to different laws under investigation. An internal observer is employed to synchronize the human and robot arm motions. Thus, we simulate both active and passive behavior of the robotic arm during the interaction. Using the system, studies are conducted where 20 participants are asked to interact with the robot, and then rate the perceived quality of the interaction using Likert scales. Our results show that the control of the robotic arm kinesthetic behavior does have an effect on the interaction with the robot, in term of its perceived personality traits, responsiveness, and human-likeness. Our results pave the way towards robotic systems that are capable of performing human–robot interactions in a more human-like manner, and with personality.

scholarly journals A Method of Welding Path Planning of Steel Mesh Based on Point Cloud for Welding Robot

2021 ◽  
Author(s):  
Yusen Geng ◽  
Yuankai Zhang ◽  
Xincheng Tian ◽  
Xiaorui Shi ◽  
Xiujing Wang ◽  
...  
Keyword(s):  
Path Planning ◽  
Point Cloud ◽  
Production Efficiency ◽  
Cloud Model ◽  
Three Dimensional ◽  
Welding Process ◽  
Automatic Welding ◽  
Welding Robot ◽  
Steel Mesh ◽  
3D Information

Abstract At present, the operators needs to carry out complicated teaching and programming work on the welding path planning for the welding robot before welding the steel mesh. In this work, an automatic welding path planning method of steel mesh based on point cloud is proposed to simplify the complicated teaching and programming work in welding path planning. The point cloud model of steel mesh is obtained by three-dimensional vision structured light camera. Then we use the relevant point cloud processing algorithm to calculate the welding path of the steel mesh, and obtainthe 3D information of the welding path for the welding localization of the robot welding process. Experimental results show that the method can accurately realize the welding path planning of the steel mesh and accomplish the welding task without teaching and programming before welding, which improves the production efficiency.

scholarly journals Representation of gas metal arc pulsed welding process behavior on bead geometry: a study of leading variables

2021 ◽  
Vol 2139 (1) ◽  
pp. 012008
Author(s):  
J L Lázaro Plata ◽  
C S Sánchez Rincón
Keyword(s):  
Welding Process ◽  
Weld Bead ◽  
Structural Quality ◽  
Welding Parameters ◽  
Bead Geometry ◽  
Automatic Welding ◽  
Cored Wire ◽  
Experimental Development ◽  
Welding Processes

Abstract Gas metal arc welding is one of the most influential processes in the production and repair of structures and equipment; therefore, the need to improve the productivity and quality of welded joints has led to the development of techniques for good control of welding parameters. Also, the development of semi-automatic welding processes led to the control of one of the variables such as pulsed current; this technique is characterized by a lower heat input and lower energy expenditure, which directly influences the structural quality of the welded joint and the geometry of the weld bead. This work focused on evaluating the effects of various welding operating parameters using the central composite design tool based on the response surface methodology; next, the experimental development employed an inverter type power source for weld depositions, a commercial grade Stargold clean 96% Ar and 4% CO2 shielding gas at the rate of 15 L/min stationary arc, a 1.2 mm metal cored wire for welding deposit and a carbon steel base plate with a thickness of 6 mm. During the welding process, the torch was kept at a 90° inclination and a 16 mm stroke. To examine the adequacy of the empirical models and the significance of the regression coefficients, the variance analysis was employed. Consequently, the graphs were obtained through the determination of the model; from the statistical results obtained, it was shown that the above models were adequate to predict the weld width, bead height, and penetration within the range of variables studied. Furthermore, it was observed that the wire feed rate it has a very marked effect on weld bead geometry, followed by frequency pulse and peak current; finally, the effectiveness of employing these methodologies for the management of variables attributing to the execution of welding tasks with higher accuracy was demonstrated.

The Development of Control System for Lowcost Automatic Welding Equipment of Aluminum Radiator Head

2012 ◽  
Vol 485 ◽  
pp. 12-15
Author(s):  
Ju Lian Ma ◽  
Hao Bin Zhou ◽  
Xiang Qian Xu ◽  
Xiao Wei Wang
Keyword(s):  
Control System ◽  
Low Cost ◽  
Welding Process ◽  
Welding Parameters ◽  
Automatic Welding ◽  
Control Board ◽  
Manual Operation ◽  
Welding Equipment ◽  
Production Site

Considering the characteristic of welding process for all-aluminum radiator and meeting the needs of Chinese production site, low-cost automatic welding equipment for aluminum radiator head has been designed, and this paper focuses on its electrical controls. The microkernel of main control board is C8051F020. Based on this board the subsystems for the entire piece of this equipment has been established, which include LCD，automatic welding, manual operation , welding parameters setting ,etc. Through trial runs of the machine, it indicates that the design of the electrical controls for the equipment is rational, full-featured, and works reliably and efficiently. And the quality of welding is well.

Mathematical Model of the Painting Robot

2016 ◽  
Vol 843 ◽  
pp. 72-80 ◽  
Author(s):  
Michal Bruzl ◽  
Vyacheslav Usmanov ◽  
Pavel Svoboda ◽  
Rostislav Šulc
Keyword(s):  
Mathematical Model ◽  
Optimal Trajectory ◽  
Research Work ◽  
Robotic Arm ◽  
3D Space ◽  
Painting Robot ◽  
The Mathematical Model ◽  
Work First ◽  
Selection Of

The main objective of the research work was to construct a techno-mathematical model of the robotic arm for conducting painting work, which would streamline the speed and quality of work performed with respect to material savings. For research we chose a robotic arm that is commonly used in industrial production, and adapted it for our conditions. The mathematical model is designed to find the optimal trajectory for moving the robotic arm, where the emphasis is placed on minimizing the path length of motion of the robot ́s endpoint, thus reducing overall energy consumption for the building work. First, the optimal mathematical modeling method was chosen, it was selected according to conditions and parameters of the robotic arm. Thanks to the applied method we picked the software that helped to create the algorithm. Subsequently, a computer simulation and calculation of the optimal motion using a combination of virtual circles, sine and cosine theorem, was done. Further, we checked all relevant angles and calculation of the robotic arm rotation in space for each admissible variant. The last step was the selection of the optimal trajectory of the robotic arm in 3D space.

scholarly journals The temperature distribution during heating in hot plate welding process

2019 ◽  
Vol 254 ◽  
pp. 02033 ◽  
Author(s):  
Krzysztof Wałęsa ◽  
Ireneusz Malujda ◽  
Jan Górecki ◽  
Dominik Wilczyński
Keyword(s):  
Temperature Distribution ◽  
Welding Process ◽  
Thermoplastic Elastomer ◽  
Thermoplastic Elastomers ◽  
Automatic Welding ◽  
Hot Plate ◽  
Butt Welding ◽  
Hot Plate Welding ◽  
Belt Transmission

Most of the industrial machines use the belt transmission for the power transfer. These mechanisms often use the round belts with a few millimetres in diameter, which are made of the thermoplastic elastomers, especially the polyurethane. Their production process requires the bonding step, which is often performed by the butt welding, using the hot plate. To design the automatic welding machine in a proper way, the authors analyzed this process. One of the most important parameter which describes the hot plate welding is plasticized distance. Knowledge about its value is necessary to predict the length reduction of the belt during welding and will be used during the quality of the joint rating. To obtain value of this parameter the temperature distribution calculations are needed. The paper shows the results of the analytical calculations of the temperature distribution and their comparison with analyses performed by the FEM implements. Calculations were performed for the thermoplastic elastomer during the heating phase in the hot plate welding process.

The Collision Avoidance Path Planning of K-Joint Automatic Welding Robot

2011 ◽  
Vol 317-319 ◽  
pp. 723-726 ◽  
Author(s):  
Tian Qi Wang ◽  
Liang Yu Li ◽  
Tie Jun Gao ◽  
Jun Jie He
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Postural Stability ◽  
Branch Pipe ◽  
Welding Process ◽  
Automatic Welding ◽  
Welding Robot ◽  
Geometrical Method ◽  
Welding Seam ◽  
Single Branch

A four freedom robot able to carry out automatic welding of offshore platform is introduced in this paper. The kinematic design of the robot has been designed according to the welding seam feature of T/Y/K-joint. The path planning of T/Y and the obstacle avoidance technique are used to study the robot’s collision avoidance welding on K-joint. In the process of K-joint path planning, the geometrical method was adopted to study the welding torch’s posture in branch gap. And for ensuring the postural stability of robot, the robot posture of a series welding points in single branch pipe condition was adjusted gradually in K-joint condition. The automatic welding process of K-joint was simulated in Solidworks. The result shows that the method could satisfy the collision avoidance requirement in the K-joint welding project.

Ways to improve welding operations in construction of oil product storage tanks

2020 ◽  
pp. 301-308
Author(s):  
O.I. Filippov
Keyword(s):  
Arc Welding ◽  
High Performance ◽  
Welding Process ◽  
Automatic Welding ◽  
Storage Tanks ◽  
Welding Equipment ◽  
Technical Requirements ◽  
Double Electrode ◽  
Product Storage

It is shown that in order to further increase the welding rate in the construction of oil product storage tanks, fi rst of all it is necessary to develop and implement high-performance methods for double-sided arc welding of vertical joints. It is noted that the most useful technique to increase the welding rate and the quality of vertical joints on the side walls of the tanks is to replace single-arc automatic welding with multi-arc welding in gas-shielded or gas mixtures. Whereby the method exhibiting the most promise for is the double-sided synchronous welding. In this case, two arcs on the both sides of the workpiece are involved in the weld formation. It is determined that for the formation of technical requirements for the welding process and needed welding equipment, and for their implementation in multi-arc welding of vertical joints, it is necessary to conduct comprehensive study of multiparameter relationship between the double-electrode welding modes and the quality of the welded joints in the construction of oil product storage tanks based on physical and mathematical modeling.

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