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Prestandajämförelse av ABBs EGM och Permanova Lasersystems externaxel för fogföljning
University West, Department of Engineering Science, Division of Industrial Engineering and Management, Electrical- and Mechanical Engineering.
University West, Department of Engineering Science, Division of Industrial Engineering and Management, Electrical- and Mechanical Engineering.
2019 (Swedish)Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesisAlternative title
Comparison of ABB EGM and Permanova external axis in performance and seam tracking (English)
Abstract [sv]

Syftet med denna studie är att jämföra två olika lösningar för fogföljning med svetsrobot. I nuläget används en extern sjunde axel utgiven av Permanova, denna jämförs med programvara från ABB vid namn EGM. Främst skall dödtid och tidskonstant fastställas och jämföras för systemen. Problematiken med detta var främst osäkerheten i den okulära inspektion av graferna som gav värdena. Ytterligare ett problem, som dessutom försvårade avläsningarna, var att det förekom störningar i processen som orsakade förvrängda kurvor. Experimenten utfördes på en modell av den riktiga processen. I den modellerade processen anslöts ingen svetsanordning till roboten, istället monterades en laseravståndsgivare som mätte mot ett parallellt metallblock. Den sjunde axeln var ansluten vid alla test för att säkerställa att resultaten var jämförbara med hänseende till vikten som belastar robotarmen. Varje testfall hade olika parametrar, så som hastighet och avstånd från robotbas. Flera experiment gjordes med samma parametrar för att säkerställa bra resultat.

Analys av insamlade data gjordes bland annat genom att liknande stegsvar av första ordningen jämfördes med experimentets stegsvar. Det estimerade stegsvarets värden finjusterades tills dess att de båda stegsvaren var någorlunda lika, dock är mänsklig faktor mycket relevant i denna analys.

Resultatet visade en klar fördel med Permanovas sjunde axel i både minskad dödtid och tidskonstant. Exempelvis var det filtrerade medelvärdet för dödtiden med EGM 266 ms och en standardavvikelse på 20,8 ms, medan det för Permanova är nere på 11,5 ms och standardavvikelse på 2,0 ms. De filtrerade tidskonstanterna följde samma trend och uppgick till 68 ms, standardavvikelse 13,5 ms, för EGM respektive 33 ms och standardavvikelse 4,8 ms för Permanova. Det var överraskande att skillnaden mellan EGM och Permanovas sjunde axel var så pass stor, men sjunde axeln verkar helt klart vara bäst lämpad för en sådan här process på grund av dess mycket snabbare dödtid och tidskonstant. Då EGM presterade så mycket sämre anses den inte lämplig för applikationer i lasersvetsning på PTC.

Abstract [en]

The purpose of this study is to compare solutions for seam tracking with a welding robot. At the moment the used solution is an external seventh axis made by Permanova which is going to be compared to software made by ABB called EGM. The primary comparisons shall be done regarding the dead time and the time constant of the two processes. A primary problem with this was the uncertainty that comes with ocular inspection of the graphs in order to extract relevant values. Another problem, that also made construing the curves harder, was that there were some disturbances that caused distorted curves. Experiments were done on a model of the actual process, meaning that no welding equipment was connected to the robot in this model process. Instead a laser sensor was mounted onto the robot that measured against a parallel metal block. The seventh axis was connected for all tests to make sure that the results were comparable when it comes to the weight that the robot arm is burdened with. Each experiment had different parameters, such as speed and distance from the robot's base. Several tests were made with the same parameters to make sure that good results were had.

One method used for analysis of gathered data was comparing a similar first order system to the step response of different experiments. The values of this approximate step response were tweaked until both step responses were fairly similar, however, the human factor is very relevant in this analysis.

The results showed a clear advantage towards Permanova's seventh axis in both decreased dead time and time constant. For example, the filtered mean value for the dead time with EGM was 266 ms and a standard deviation of 20,8 ms, while Permanova clocked in at 11,5 ms with a standard deviation of 2,0 ms. The filtered time constants followed the same trend and were at 68 ms, standard deviation of 13,5 ms, for EGM and 33 ms, standard deviation of 4,8 ms, for Permanova. It was quite surprising how big the difference was between EGM and Permanova's seventh axis, but the seventh axis was without a doubt the solution best suited to this kind of process. Due to the lacking performance from EGM it is determined to be unfit for laser welding applications at PTW.

Place, publisher, year, edition, pages
2019. , p. 35
Keywords [en]
Laser welding, seam tracking, welding robots
Keywords [sv]
Lasersvetsning, fogföljning, svetsrobotar
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hv:diva-14415Local ID: EXE511OAI: oai:DiVA.org:hv-14415DiVA, id: diva2:1351788
Subject / course
Electrotechnology
Educational program
Elektroingenjör - Elkraft
Supervisors
Examiners
Available from: 2019-09-30 Created: 2019-09-16 Last updated: 2019-09-30Bibliographically approved

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