Research on adaptive adjustment of welding torch pose in wire and arc additive remanufacturing of hot-forging dies

Robot automatic motion planning is a significant issue in wire and arc additive remanufacturing (WAAR) of hot-forging dies. In order to realize collision-free robot motions in the WAAR process, this paper proposes a series of algorithms for the adaptive adjustment of welding torch pose. The collisio...

Full description

Saved in:
Bibliographic Details
Published in:International journal of advanced manufacturing technology 2022-07, Vol.121 (5-6), p.3499-3510
Main Authors: Shen, Yonghua, Wei, Yanhong, Du, Xinwei, Liu, Renpei
Format: Article
Language:English
Subjects:
Adaptive algorithms
Algorithms
CAE) and Design
Collision avoidance
Computer-Aided Engineering (CAD
Cylinder liners
Die forging
Engineering
Forging dies
Industrial and Production Engineering
Intersections
Mechanical Engineering
Media Management
Motion planning
Original Article
Quaternions
Remanufacturing
Robot dynamics
Welding
Wire
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Robot automatic motion planning is a significant issue in wire and arc additive remanufacturing (WAAR) of hot-forging dies. In order to realize collision-free robot motions in the WAAR process, this paper proposes a series of algorithms for the adaptive adjustment of welding torch pose. The collision detection between the welding torch and the die is divided into two phases: preliminary detection and precise detection. In the preliminary detection phase, spatial partitioning and bounding volumes are adopted to reduce the number of intersection tests between primitives. The intersection test between the line segment and the cylinder is performed in the precise detection phase. Subsequently, based on the results of collision detection, the corresponding adaptive adjustment algorithms for the welding torch pose are developed for the contour paths and the zigzag paths, respectively. In addition, the solution process of the quaternion representing the pose of the welding torch is designed. At last, the comparison tests of the three algorithms and the remanufacturing experiment of four dies verify that the proposed collision detection algorithm has great advantages in efficiency and the effectiveness of the adaptive adjustment algorithm of welding torch pose.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-022-09548-8