LIBRARY ı6ıul 0) - Cranfield University

types of joints and multi-pass welds should be developed and integrated in the off-line
programming system.
9.2.2 Integration of simulation tools into the CAD software and support for
non-linear joints.
Using the standard AutoCAD programming facilities, robot simulation tools
could be developed and integrated into the software, thus providing visualization of
the welding cell without the need for a different simulation sofware.
Also, the introduction of programming techniques for non-linear joints would
give a more general applicability to the software.
9.2.3 Development/integration of robust sensors for seam tracking and gap
detection, and implementation of further axes in the joint positioner.
In order to make the system applicable to the real industrial environment,
further controllable axes should be integrated into the moving table. The control of all
the integrated axes would depend on the information provided by the stand-off
estimation model together with the measurements of lateral deviation and gap size
provided by suitable sensors. The integration of currently available sensors or the
development of new sensors give a wide scope for research of measurement and
control strategies. The sensor arrangement proposed in Appendix D would be a good
starting point.
9.2.4 Experimental and theoretical study of the influence of welding voltage on
the weld pool formation in fillet joints.
In view of the penetration profile obtained in the controlled spray transfer
trials (see Figures 7.29 and 7.31) a more specific theoretical and experimental study of
the influence of the welding voltage on the heat transfer and fluid flow mechanisms
inside the weld pool would provide a better understanding of the physical aspects
involved on the weld bead formation.
200