Non-destructive evaluation of residual stress using the collaborative robot

使用协作机器人无损评估残余应力

• 批准号: 2747646
• 金额: --
• 依托单位: University of Strathclyde
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2022
• 资助国家: 英国
• 起止时间: 2022 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2747646
• 关键词: Non; destructive; evaluation; residual; stress

In the Centre for Ultrasonic Engineering (CUE) at the University of Strathclyde, the non-destructive evaluation of residual stress in welding and Wire + Arc Additive Manufacturing (WAAM) is considered as part of a larger programme through a 5-year Chancellor's fellowship led by Dr Javadi. Therefore, an advanced robotic system for the in-process residual stress measurement will be developed within the centre's state of the art robotic facility: Sensor Enabled Automation, Robotics & Control Hub (SEARCH). The measurement process will be carried out using (i) a phased array ultrasonic system and (ii) a flexible robotic cell. The innovative idea of robotic residual stress measurement is anticipated to increase the repeatability and the accuracy of the measurement, through reducing human errors and increasing the positioning accuracy of the measurement system, and also saving the measurement time. Traditionally, the majority of residual stress measurement methods are carried out manually with some basic automation, where the whole process still requires supervision by a highly skilled operator (expert in both areas of NDE and residual stress). In this project, a collaborative robot (Cobot) similar to KUKA KMR iiwa, will be used to facilitate the transition from a manual process (residual stress measurement) to an automated process in direct collaboration with the highly skilled operator (this PhD student). Such a smart collaborative robot can help with the residual stress measurement in both (A) offline measurement on the as-built components and (B) high-temperature in-process residual stress measurement. For the offline measurement, it is expected to increase the flexibility of the measurement as the operator should reach the different sections of weld, Heat Affected Zine (HAZ) and parent material of the component for the comprehensive residual stress measurement. This flexibility is also required to deal with the variations in the size and geometry of the components because the complex geometry of WAAM components is challenging to be fully covered during a manual residual stress measurement process. Furthermore, some parts of the process are time consuming in a repetitive procedure, The cobot can be trained by the operator on one of the testing sections and then the same process will be repeated automatically for the whole measurement reaching a more accurate results and saving time/energy. For the high-temperature in-process residual stress measurement, the cobot can also allow the initial testing and experiments on the hot sample to facilitate the transition from the manual measurement to the fully automated in-process inspection. All of these developments will be considered in this project to explore the requirements of a system of cobot residual stress measurement.

在斯特拉斯克莱德大学的超声波工程中心(CUE)，焊接和焊丝+电弧添加剂制造(WAAM)中残余应力的无损评估被认为是由贾瓦迪博士领导的为期5年的校长奖学金计划的一部分。因此，将在该中心最先进的机器人设施中开发一种先进的机器人系统，用于在过程中测量残余应力：传感器使能自动化、机器人和控制中心(SEARCH)。测量过程将使用(I)相控阵超声系统和(Ii)柔性机器人单元。机器人残余应力测量的创新思想有望通过减少人为误差、提高测量系统的定位精度以及节省测量时间来提高测量的重复性和准确性。传统上，大多数残余应力测量方法是通过一些基本的自动化手动进行的，整个过程仍然需要高技能操作员(无损检测和残余应力两个领域的专家)的监督。在这个项目中，一个类似于KUKA KMR iiwa的协作机器人(CoBot)将被用来促进从手动过程(残余应力测量)到与高技能操作员(这名博士生)直接合作的自动化过程的过渡。这种智能协作机器人可以帮助在(A)成品部件的离线测量和(B)高温在线残余应力测量中进行残余应力测量。对于离线测量，由于操作员应到达焊接、热影响区(HAZ)和部件母材的不同部分进行全面的残余应力测量，因此有望增加测量的灵活性。由于WAAM组件复杂的几何形状很难在手动残余应力测量过程中完全覆盖，因此还需要这种灵活性来处理组件的尺寸和几何形状的变化。此外，该过程的某些部分在重复过程中非常耗时，操作员可以在其中一个测试段上训练合作机器人，然后在整个测量过程中自动重复相同的过程，从而获得更准确的结果，节省时间/能源。对于高温在线残余应力测量，Cobot还可以允许对热样品进行初始测试和实验，以促进从手动测量过渡到全自动化在线检测。本项目将考虑所有这些发展，以探索Cobot残余应力测量系统的要求。