Simulation of robotic TIG-welding
Simulation of robotic TIG-welding
复制标题
机器人 TIG 焊接模拟
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
M. Ericsson
中科院分区：
文献类型：
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作者：
M. Ericsson
机器人焊接是制造业中最重要的机器人任务之一。操作员通常手动执行机器人的编程，即通过将机器人臂微动到空间中的每个坐标姿势。然而，编程可以通过使用所谓的计算机辅助机器人技术的模拟来变得更加准确。仿真也是评估和控制焊接热效应（如不必要的应力和变形）的有力工具。本论文的目的是开发一种仿真工具和方法，通过它可以离线分析和优化机器人轨迹，温度历史，残余应力和变形。这是通过将机器人仿真软件与有限元分析软件相结合来执行的。创建了一个特殊的接口，允许两个软件程序之间的信息交换。该方法被用来规划焊接轨迹的平板和航空航天部件的一部分。将轨迹下载到有限元分析软件中，在该软件中进行温度和残余应力预测。编程的机器人轨迹和实际轨迹之间存在良好的一致性，并且仅需要进行小的调整。使用热电偶和红外成像进行温度测量。使用这两种方法的结果之间也发现了良好的协议。所开发的方法提供了一个强大的工具来构建和优化机器人轨迹和焊接工艺参数离线。（减）
Robotised welding is one of the most important robot tasks used in manufacturing industry. The operator usually performs the programming of the robot manually, i.e. by jogging the robot arm to each coordinate pose in space. Programming can, however, be made more accurate by the use of simulation, using so called Computer Aided Robotics. Simulation can also be a powerful tool to evaluate and control welding heat effects, such as unwanted stresses and deformation. The objective of this thesis was to develop a simulation tool and a method by which robot trajectories, temperature histories, residual stresses and distortion can be analysed and optimised off-line. This was performed by integrating robot simulation software with finite element analysis software. A special interface was created allowing information exchange between the two software programs. The method was used to program welding trajectories both for planar plates and for a part of an aerospace component. The trajectories was downloaded to the finite element analysis software where temperature and residual stress prediction were performed. Good agreement was found between the programmed robot trajectory, and the actual trajectory and only small adjustments were necessary. Temperature measurements were performed using both thermocouples and infrared imaging. Good agreement was also found between the results using these two methods. The method developed provides a powerful tool to construct and optimise robot trajectories and welding process parameters off-line. (Less)