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M MEi 100 - r-O 50 -100 Demanded displacement [10' mm] Figure 5.6 - Calibration curve for table displacement 40 35 30 25 2g 20 ; 15 V,. 0 011 10 0 0 IL 05 10 15 20 25 30 Required Welding Voltage (Volts) y1 20 40 90 35 40 1)12bx Figure 5.7 - Calibration curve for Robot Interface voltage input channel j25 ýr c 20 15 10 5Wf0 0 -60 -40 _ ý. 4 OSW 9903 WF5.,., "0 0484 05 10 15 20 25 Required wire-feed-speed (mhnWn) Figure 5.8 - Calibration curve for Robot Interface wire-feed-speed channel 125
126
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CRANFIELD UNIVERSITY GC CARVALHO AN
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ABSTRACT The aim of this work was t
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I dedicate this work to the memory
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FIGURES TABLES APPENDICES NOTATION
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3.3.2.1 Welding parameters generato
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References Further reading Appendic
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Figure 3.12 Offsets for weld start
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Figure 6.31 Voltage step input test
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Figure J. 2 Plot of stand-off varia
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Table A. 1 Welding extended entity
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NOTATION A, Electrode sectional are
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Pr(ign) Possibility measure of proc
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1. Introduction Welding is the thir
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Chapter 4 describes the on-line pos
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In pulse transfer, the welding curr
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Pd = Pv - pzh-s (2.1) where Pd is t
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the bridge. Another factor that ind
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establish the stable conditions for
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Philpott [ref. 21] developed an on-
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current peak at the moment the tip
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obot on the line must be individual
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collision detection capabilities wh
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cause dynamic variation in the seam
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Another type of robot static calibr
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spatter the gas nozzle is particula
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Table 2.1: Joint positioning tolera
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In order to minimise the undesirabl
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c) Ultrasonic sensors; d) Through-t
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where K,, K2, K3 and K4 are constan
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Philpott [refs. 21,131], based on t
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centre. This is attributed to the m
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technique must be employed to preve
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" digital hardware, which is basica
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" Maximum value, W.: Wmý = max(W )
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process studied over a small range.
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In-process welding control is a muc
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volume caused by the presence of a
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SHIELDING GAS IN CONSUMABLE ELECTRO
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Arc voltage Anode Arc length I Anod
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computed ideal procedure optimisnti
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CONSTANT CURRENT POWER SOURCE `j' O
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Original Surface New Surface Electr
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otating welding wire direction weld
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3.1.1.1 Robot errors A robot arm is
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3.2.2 Programming error correction
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3.3.2 Off-line programming module I
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Pen is the weld penetration (side p
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a. 2) Geometrical constraints from
Page 99 and 100: Step 11 Step 12 Step 13 Step 14 Ste
Page 101 and 102: Step 21 Step 22 If the wire feed sp
Page 103 and 104: the Y'-axis results in a positive "
Page 105 and 106: _ p1e0a - pORoba m31 Ilp! - poll (3
Page 107 and 108: of a robot in its zero position12 w
Page 109 and 110: frame points to the front of the ro
Page 111 and 112: CAD Off-line (AutoCAD) programming
Page 113 and 114: Z Surface 4 A Y 7 M2 Open Edge Join
Page 115 and 116: WCF World Co-ordinates Frame 2a = J
Page 117 and 118: x Torch Co-ordinates Frame o Indica
Page 119 and 120: vo Ö 't7 Y7 't O m O 'S O O S O S
Page 121 and 122: ýý aý 0 oA aW ö A O Zt A OO 't
Page 123 and 124: Ti 9ý-! i4 *Tx t ap31 jx ý- ymin
Page 125 and 126: errors', (i. e. joint positioning,
Page 127 and 128: was considered to be outside the sc
Page 129 and 130: Table 4.3 - Linguistic representati
Page 131 and 132: The introduction of such a reduced
Page 133 and 134: Table 4.8 - Final welding process c
Page 135 and 136: the collection of welding data corr
Page 137 and 138: Step 4- Calculate the confidence of
Page 139 and 140: Z Table Co-ordinates Frame Y X Robo
Page 141 and 142: 5.3 Monitoring system The monitorin
Page 143 and 144: the torch end. Only one degree of f
Page 145 and 146: Current: 500 Position: 234.5 5.7.3
Page 147 and 148: I" va JI ºr ö C 3 r" r" rl f_ £-
Page 149: IgurC a. H -I UI qur vCiSUJ JpCCU C
Page 153 and 154: Table 6.1 - Welding trials carried
Page 155 and 156: Table 6.3 - Coefficients of Ogunbiy
Page 157 and 158: Note that the calibration model sho
Page 159 and 160: Table 6.6 - Welding parameters used
Page 161 and 162: constant set-up welding parameters
Page 163 and 164: stickout lengths and the temperatur
Page 165 and 166: of the dip mode of metal transfer.
Page 167 and 168: which would become active by settin
Page 169 and 170: In section 4.2.5 it has been mentio
Page 171 and 172: 300 280 260 240 rd 35- 3D 25 20 15
Page 173 and 174: Figure 6.5 - Measured "versus" Pred
Page 175 and 176: i S 0 -0.1 -0.2 -0.3 -0.7- 68 10 12
Page 177 and 178: 32.0 E 31.5 y 31.0 30.5 30.0 j 29.5
Page 179 and 180: 35 - 30 p 15 10 0.00 2.60 5.42 8.23
Page 181 and 182: 40 35 30 25 20 15 10 A+iIII+F0.17 2
Page 183 and 184: 30 28 26 24 22 SO_act [mm] DipR [mo
Page 185 and 186: 22 20 18 SO_act [mm] DipR [ohm/100]
Page 187 and 188: !: 30 25 20t 10 5-- 0 Dip Transfer
Page 189 and 190: 0.430- - 0.380- - :r 0.330 fPR L- 0
Page 191 and 192: 7.2 Tests with varying stand-off an
Page 193 and 194: Table 7.3 - Bead geometry along the
Page 195 and 196: ö a2 ., u" u,.., g .,. aucyuaac VI
Page 197 and 198: 0 24-- 22-- 18 210 1 90 0 v 170 mm
Page 199 and 200: Q 34 32 3o mIm Viewing direction Fl
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ýa 34 mm JO a .. ý nn ýr "u 00 M
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22 20 18 Viewing direction Flange W
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36 33 31 o 29 t 350 310 o 290 U due
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I C, x -i 23 21 j 19 Q 240c WFS =10
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en 34 32 - vsec 30- 26- 24 + .. ++
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186
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" to design and build the hardware
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Although only linear joints were im
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for predicting possibility of bad a
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8.4 Process monitoring and control
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satisfy the required quality criter
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198
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types of joints and multi-pass weld
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[14] NEMCHINSKY, V. A. The effect o
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[38] D1LTHEY, U. , REICHELL, T. , S
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[64] KING, F-J. and HIRSCH, P. Seam
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[86] CARGNELLI, M. and ROGOWSKI, A.
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[109] KURKIN, N. S. and DRIKKER, V.
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[130] USHIO, M. , LIU, W. , MAO, W.
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[151] DAVIS, A. R. Orr-line gap det
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[177] COOK, G. E. Feedback and adap
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[201] WON, Y. J. and CHO, H. S. A f
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220
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222
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wnum: local variable which defines
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Table A. 1 - continuation List item
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Imean = a2 + b2*WFS + c2*SO + d2*SO
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TCP2 number are also defined. The o
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f ROBSET. DAT: This file is created
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Figure C. 3 - Main dialogue box of
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Choose the set of welding parameter
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Water Cooling optic fibre bundle 0
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Figure E. 1 - Main graphical screen
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242
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Table G. 2 - Interface box external
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Robot ii Controller +24W CO . +24Vd
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248
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Table 1.1 - continuation Run Vpk M
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10- y =0.001ac 0 r. dSO [mm] $0 '10
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5.00- 0.00 y=0.0019x 1000 1500 2000
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Table J. 7 - Welding data collected
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Table J. 10 - Welding data collecte
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20.00- 15. M y=0.0047x - 1.7922 10.
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266
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Table K. 1- continuation Set-up par
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Table K. 1 - continuation Set-up pa
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Table K. 2 - continuation Set up pa
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Table K. 2 - Continuation Set-up pa
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Table K. 3 - Continuation Set-up pa
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Table K. 3 - Continuation Setup par
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