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Simulation fo Robot Paths and Heat Effects in Welding
University West, Department of Technology, Mathematics and Computer Science.ORCID iD: 0000-0002-4329-418X
2006 (English)Doctoral thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Trollhättan: Högskolan Väst , 2006. , p. 160
Keywords [en]
Robotics
Keywords [sv]
Svetsning, robotteknik
National Category
Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
URN: urn:nbn:se:hv:diva-2575ISBN: 91-628-6869-1 (print)ISBN: 978-91-628-6869-7 (print)OAI: oai:DiVA.org:hv-2575DiVA, id: diva2:326791
Note
Diss. Lund : Lunds universitet, 2006Available from: 2010-06-30 Created: 2010-06-24 Last updated: 2014-05-08Bibliographically approved
List of papers
1. Computer Aided Robotics combined with a Finite Element Analysis for Process Simulation of Welding
Open this publication in new window or tab >>Computer Aided Robotics combined with a Finite Element Analysis for Process Simulation of Welding
2004 (English)In: 35th International Symposium on Robotics, ISR 2004: Paris, mars 2004, Paris: International Federation of Robotics , 2004Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Paris: International Federation of Robotics, 2004
National Category
Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2454 (URN)
Note
CD-ROM, pdf-formatAvailable from: 2010-05-05 Created: 2010-05-05 Last updated: 2014-05-08Bibliographically approved
2. Three-dimensional simulation of robot path and heat transfer of a TIG-welded part with complex geometry
Open this publication in new window or tab >>Three-dimensional simulation of robot path and heat transfer of a TIG-welded part with complex geometry
2002 (English)In: 11th International Conferences on Computer Technology in Welding: Colombus, Ohio December 6-7, 2001, 2002, p. 309-316Conference paper, Published paper (Other academic)
Abstract [en]

The application of commercial software (OLP) packages for robot simulation, and programming, use interactive computer graphics, provide powerful tools for creating welding paths off-line. By the use of such software, problems of robot reach, accessibility, collision and timing can be eliminated during the planning stage. This paper describes how such software can be integrated with a numerical model that predicts temperature-time histories in the solid material. The objective of this integration is to develop a tool for the engineer where robot trajectories and process parameters can be optimized on parts with complex geometry. Such a tool would decrease the number of weld trials, increase productivity and reduce costs. Assumptions and principles behind the modeling techniques are presented together with experimental evaluation of the correlation between modeled and measured temperatures.

Series
Technical Paper - Society of Manufacturing Engineers, ISSN 0361-8765 ; AD02-292
Keywords
Finite element analysis; Heat transfer; Off-line programming; Welding
National Category
Metallurgy and Metallic Materials
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2482 (URN)
Conference
11th International Conferences on Computer Technology in Welding, Colombus, Ohio December 6-7, 2001
Available from: 2010-05-21 Created: 2010-05-21 Last updated: 2016-02-12Bibliographically approved
3. Non-contact Temperature Measurements using an Infrared Camera in Aerospace Welding Applications
Open this publication in new window or tab >>Non-contact Temperature Measurements using an Infrared Camera in Aerospace Welding Applications
2002 (English)In: 6th International Conference on Trends in Welding Research: Phoenix, AZ; 15-19 April 2002, Materials Park: ASM International , 2002, p. 930-935Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes the application of infrared (IR) thermal imaging and temperature measurements in welding applications, both on single plane plates and on an aero engine turbine component with complex geometry. Temperature profiles were measured on the plates using thermocouples (T/C) in combination with an IR camera system, and the results were compared. The IR camera was used both in line scan mode (270 Hz scan frequency) and in full frame mode (1 Hz frame rate). Different methods of surface treatments have been tested to handle the problem of the surface emissivity variations due to oxidation during welding. Results from measurements using thermocouples and IR camera is presented in the paper as well as temperature measurements using the IR camera on an turbine exhaust case (TEC) engine component.

Place, publisher, year, edition, pages
Materials Park: ASM International, 2002
Keywords
Engineering controlled terms, aerospace applications, cameras, computer simulation, high temperature effects, infrared devices, infrared radiation, oxidation, surface treatment, temperature measurement, thermocouples, turbines
National Category
Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2495 (URN)
Available from: 2010-05-31 Created: 2010-05-31 Last updated: 2014-05-08Bibliographically approved
4. A look at the optimization of robot welding speed based on process modelling
Open this publication in new window or tab >>A look at the optimization of robot welding speed based on process modelling
2007 (English)In: Welding Journal, ISSN 0043-2296, Vol. 86, no 8, p. 238-244Article in journal (Refereed) Published
Abstract [en]

Simulation tools to search for optimal process parameters are of great interest to reduce the number of experiments and thereby reduce cost and production time. In this paper, robot simulation has been used in combination with finite element simulations to optimize robot speed in order to minimize distortion while keeping complete joint penetration. In an earlier work performed by the authors, a finite element model was developed to predict heat transfer and residual stresses of parts with complex shapes. An interface between a robot simulation model and a finite element analysis model was also constructed. In this paper, an iterative method for robot speed optimization has been developed using MATLAB. The algorithm is designed to maintain complete joint penetration while maximizing productivity by utilizing the fastest weld speed. The method makes it possible to optimize the heat input to the component and thereby minimize component deformation for parts with complex shapes. The system was evaluated on stainless steel plates with varying thicknesses. Robot weld paths were defined off line and automatically downloaded to the finite element software where the optimization was performed. Simulations and experimental validations are presented.

Keywords
Finite Element Analysis (FEA); Off-Line Programming (OLP); Robot simulation; Temperature; Weld velocity; Welding speed; Computer simulation; Finite element method; Optimization; Parameter estimation; Process control; Robotics; Thermal effects
National Category
Manufacturing, Surface and Joining Technology
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2571 (URN)
Available from: 2010-06-23 Created: 2010-06-23 Last updated: 2017-12-12Bibliographically approved
5. Three dimensional simulation of robot path, heat transfer and residual stresses of a welded part with complex geometry
Open this publication in new window or tab >>Three dimensional simulation of robot path, heat transfer and residual stresses of a welded part with complex geometry
2005 (English)In: International jourrnal for the joining of materials, ISSN 0905-6866, Vol. 17, no 2, p. 42-51Article in journal (Refereed) Published
Abstract [en]

In this article a simulation system is presented that combines computer aided robotics software used to define the welding operation, with a finite element model that predicts temperature-time histories and residual stress distributions for welding applications. The objective is to develop a tool for engineering processes in which robot trajectories and welding process parameters can be optimized off-line on parts with complex geometries. The system was evaluated on a stainless steel gas turbine component. Temperature dependent properties and phase change were included in the analysis. The turbine component was welded using an in-house TIG welding cell. The assumptions and principles that underpin the modeling techniques are presented together with predicted temperature histories, residual stresses, and fixture forces. Predicted residual stresses were compared with neutron diffraction measurements.

Keywords
Finite element analysis; Off-line programming; Residual stress measurments: Computer aided engineering; Computer programming; Computer simulation; Computer software; Finite element method; Fixtures (tooling); Heat transfer; Mathematical models; Residual stresses; Stainless steel; Welding
National Category
Manufacturing, Surface and Joining Technology Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2570 (URN)
Available from: 2010-06-23 Created: 2010-06-23 Last updated: 2015-03-17Bibliographically approved
6. Off-line programming of robots for metal deposition
Open this publication in new window or tab >>Off-line programming of robots for metal deposition
2005 (English)In: Trends in welding research: Proceedings of the 7th international conference, May 16-20. Pine Mountain, Georgia, 2005, p. 629-634Conference paper, Published paper (Other academic)
Abstract [en]

Metal Deposition (MD) is a rapid prototyping technique to build parts by depositing metal in a required fashion. When a complex-shaped part is to be built, a simulation tool is needed to define robot trajectories. Three different simulation-based methods for robot trajectory generation are introduced and compared in this study. The methods are; reversed milling, adapted rapid prototyping and application programming in a computer aided robotics software. All methods were shown capable of creating robot paths for complex shapes, with the CAR software approach being the most flexible. Using this method, the geometry to be built is automatically sliced into layers and a robot path is automatically generated. The method was tentatively evaluated and appears to provide a powerful technique in the design and optimisation of robot paths for MD. Experiments showed that it is possible to manufacture fully dense parts using an Nd-Yag laser.

 

National Category
Control Engineering
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2366 (URN)10.1361/cp2005twr0629 (DOI)0-87170-842-6 (ISBN)
Note

6 cites: http://scholar.google.com/scholar?cites=5809082284978543584&hl=en&num=100&as_sdt=2000&as_subj=eng

Available from: 2010-04-21 Created: 2010-04-21 Last updated: 2015-04-29Bibliographically approved

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