Welding Path Planning Design and Simulation Analysis of Arc Welding Robot for V-shaped Groove

LIU Zhicheng; KANG Huimin; LIU Houcai; OUYANG Puren; CUI Zhengjie; DUAN Lianghui

doi:10.13433/j.cnki.1003-8728.20220225

Volume 43 Issue 3

Mar. 2024

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2024 > 43(3): 457-465

LIU Zhicheng, KANG Huimin, LIU Houcai, OUYANG Puren, CUI Zhengjie, DUAN Lianghui. Welding Path Planning Design and Simulation Analysis of Arc Welding Robot for V-shaped Groove[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(3): 457-465. doi: 10.13433/j.cnki.1003-8728.20220225

Citation:

LIU Zhicheng, KANG Huimin, LIU Houcai, OUYANG Puren, CUI Zhengjie, DUAN Lianghui. Welding Path Planning Design and Simulation Analysis of Arc Welding Robot for V-shaped Groove[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(3): 457-465. doi: 10.13433/j.cnki.1003-8728.20220225

Citation:

LIU Zhicheng, KANG Huimin, LIU Houcai, OUYANG Puren, CUI Zhengjie, DUAN Lianghui. Welding Path Planning Design and Simulation Analysis of Arc Welding Robot for V-shaped Groove[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(3): 457-465. doi: 10.13433/j.cnki.1003-8728.20220225

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Welding Path Planning Design and Simulation Analysis of Arc Welding Robot for V-shaped Groove

doi: 10.13433/j.cnki.1003-8728.20220225

1.
School of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, Hu′nan, China
2.
Numerical Control Processing Branch of Jiangnan Industrial Group Co. Ltd., Xiangtan 411207, Hu'nan, China

Received Date: 2021-12-23
Publish Date: 2024-03-25

Abstract

Abstract

In order to solve the welding deformation problem of the arc welding robot facing the V-shaped groove of the medium and thick plate, by analyzing the characteristics of traditional layer-by-layer stacking welding, which is easy to cause heat accumulation and leads to welding deformation, a combination of V-shaped cross-section projection trajectory, spatial parallel reciprocating trajectory (SPRT) and spatial contour offset trajectory (SCOT) are combined to establish V-shaped welding layer to achieve rapid heat dissipation during welding process. At the same time, on the basis of establishing the analytical expressions of the trajectory equations, the advantages and disadvantages of the SPRT and the SCOT and the traditional layer-by-pass welding are compared and analyzed by Simufact Welding and MATLAB simulation software. To further verify the feasibility, the FANUC industrial robot was used for experiments. The simulation and test results show that based on the deformation of the parts in the y and z axis directions, the SPRT and SCOT are better than the traditional layer-by-layer welding method, and the SCOT is better than the SPRT. However, in the SPRT, the spatial pose adjustment of the robot end effector is relatively simple, the introduction error is small, and the control precision is high during the orbit transformation process, which is more suitable for narrow and short V-grooves; and the SCOT is more suitable for the wider and longer V-grooves.
- V-shaped grooves,
- spatial parallel reciprocal trajectory,
- spatial contour offset trajectory,
- weld stacking,
- path planning.

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References(16)

References

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