LIBRARY ı6ıul 0) - Cranfield University

More documents

Recommendations

Info

10.00 5.00- 0.00 y=x -5.00 1000 1500 2000 25M 3000 3500 4C ME dSO [mm] -10.00 " Sum(I(k)-I(k-1)) [A] -15.00 -20.00-- -25.00-- -30.00 X6.00 -40.00 Linear (Sum(I(k)-I(k-1)) [A]) y= -0.0095x - 3.075 Linear (dSO [mm]) R2=0.967 A Time [ms] Figure J. 8 - Plot of stand-off variation and cumulative changes in welding current for welding trial "s15200811 Table J. 9 - Welding data collected from stand-off slope trial "s152009" Time [ms] So [mm] Iinean, k [A] ASO [mm] 7-[Imean, k- 0 15 311.1 0 0 512 15.74 302.8 0.74 1024 16.48 298.4 1.48 [A] -8.3 -12.7 1536 17.22 293.6 2.22 -17.5 2048 17.96 288.7 2.96 -22.4 2560 18.70 284.7 3.70 -26.4 3072 19.45 279.9 4.45 -31.2 WFS = 13.5 m/nun Sw = 0.7 m/min Vset = 34.3 V Vreq = 31.5 V 5 0 y0.0014x $ 500 1000 1500 2000 2500 3000 -10 . 15 -g0 -25 y= -0.0097x -1. R2 = 0.98ýi Time [ms] f -Linear dSO [mm] Sum(I(k)-I(k-1)) [A] Imcan, (k-1)] (Sum(I(k)-I(k-1)) [A]) Linear (dSO [mm]) Figure J. 9 - Plot of stand-off variation and cumulative changes in welding current for welding trial "s15 2009" 257
Table J. 10 - Welding data collected from stand-off slope trial "s15 2010" Time [msl so [mm] Imean, k [A] Aso [mm] S[Imean, k- 0 15.00 328.1 0.00 0.0 512 15.74 319.0 0.74 1024 16.48 312.1 1.48 1536 17.22 307.6 2.22 2048 17.96 302.4 2.96 2560 18.70 296.9 3.70 3072 19.45 294.4 4.45 vvra - 14. J AUIIü1 Vset = 34.8 V 5.00 0.00 -5.00 Jw = U. / m/nun Vreq = 32.0 V y=0.0014x , 500 1000 1500 2000 2500 3000 3E M -10.00 r. dSO [mm] [A] -9.1 -16.0 -20.5 -25.7 -31.2 -33.7 -15.00 f Sum(I(k)-I(k-1)) [A] lmean, (k-1)] -20"00 -Linear (Sum(I(k}I(k-1)) [A]) = -2500y -0.0108x - 2.85 Linear (dSO [mm]) ,ýR=0.9766 , 35.00 -40.00 Time [ms] Figure J. 10 - Plot of stand-off variation and cumulative changes in welding current for welding trial "s15 2010" Table J. 11 - Welding data collected from stand-off slope trial "s15 1001" Time [ms] SO [mm] Imean, k [A] A ASO [mm] 7, [Imean, k- 0 15.00 147.3 0.00 0.0 512 14.36 149.3 -0.64 2.0 1024 13.73 150.2 -1.27 2.9 1536 13.09 153.7 -1.91 6.4 2048 12.46 154.8 -2.54 7.5 2560 11.82 157.8 -3.18 10.6 3072 11.19 160.0 -3.81 12.7 3584 10.55---t 159.5 -4.45 12.2 WFS = 5.0 m/min Sw = 0.6 m/min Vset=21.3 V Vreq= 19.4 V 258 [A] Imean, (k-1)]
Page 1 and 2:
CRANFIELD UNIVERSITY GC CARVALHO AN
Page 3 and 4:
ABSTRACT The aim of this work was t
Page 5 and 6:
I dedicate this work to the memory
Page 7 and 8:
FIGURES TABLES APPENDICES NOTATION
Page 9 and 10:
3.3.2.1 Welding parameters generato
Page 11 and 12:
References Further reading Appendic
Page 13 and 14:
Figure 3.12 Offsets for weld start
Page 15 and 16:
Figure 6.31 Voltage step input test
Page 17 and 18:
Figure J. 2 Plot of stand-off varia
Page 19 and 20:
Table A. 1 Welding extended entity
Page 22 and 23:
NOTATION A, Electrode sectional are
Page 24 and 25:
Pr(ign) Possibility measure of proc
Page 26 and 27:
1. Introduction Welding is the thir
Page 28:
Chapter 4 describes the on-line pos
Page 31 and 32:
In pulse transfer, the welding curr
Page 33 and 34:
Pd = Pv - pzh-s (2.1) where Pd is t
Page 35 and 36:
the bridge. Another factor that ind
Page 37 and 38:
establish the stable conditions for
Page 39 and 40:
Philpott [ref. 21] developed an on-
Page 41 and 42:
current peak at the moment the tip
Page 43 and 44:
obot on the line must be individual
Page 45 and 46:
collision detection capabilities wh
Page 47 and 48:
cause dynamic variation in the seam
Page 49 and 50:
Another type of robot static calibr
Page 51 and 52:
spatter the gas nozzle is particula
Page 53 and 54:
Table 2.1: Joint positioning tolera
Page 55 and 56:
In order to minimise the undesirabl
Page 57 and 58:
c) Ultrasonic sensors; d) Through-t
Page 59 and 60:
where K,, K2, K3 and K4 are constan
Page 61 and 62:
Philpott [refs. 21,131], based on t
Page 63 and 64:
centre. This is attributed to the m
Page 65 and 66:
technique must be employed to preve
Page 67 and 68:
" digital hardware, which is basica
Page 69 and 70:
" Maximum value, W.: Wmý = max(W )
Page 71 and 72:
process studied over a small range.
Page 73 and 74:
In-process welding control is a muc
Page 75 and 76:
volume caused by the presence of a
Page 77 and 78:
SHIELDING GAS IN CONSUMABLE ELECTRO
Page 79 and 80:
Arc voltage Anode Arc length I Anod
Page 81 and 82:
computed ideal procedure optimisnti
Page 83 and 84:
CONSTANT CURRENT POWER SOURCE `j' O
Page 85 and 86:
Original Surface New Surface Electr
Page 87 and 88:
otating welding wire direction weld
Page 89 and 90:
3.1.1.1 Robot errors A robot arm is
Page 91 and 92:
3.2.2 Programming error correction
Page 93 and 94:
3.3.2 Off-line programming module I
Page 95 and 96:
Pen is the weld penetration (side p
Page 97 and 98:
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 and 150:
IgurC a. H -I UI qur vCiSUJ JpCCU C
Page 151 and 152:
126
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
Page 201 and 202:
ýa 34 mm JO a .. ý nn ýr "u 00 M
Page 203 and 204:
22 20 18 Viewing direction Flange W
Page 205 and 206:
36 33 31 o 29 t 350 310 o 290 U due
Page 207 and 208:
I C, x -i 23 21 j 19 Q 240c WFS =10
Page 209 and 210:
en 34 32 - vsec 30- 26- 24 + .. ++
Page 211 and 212:
186
Page 213 and 214:
" to design and build the hardware
Page 215 and 216:
Although only linear joints were im
Page 217 and 218:
for predicting possibility of bad a
Page 219 and 220:
8.4 Process monitoring and control
Page 221 and 222:
satisfy the required quality criter
Page 223 and 224:
198
Page 225 and 226:
types of joints and multi-pass weld
Page 227 and 228:
[14] NEMCHINSKY, V. A. The effect o
Page 229 and 230:
[38] D1LTHEY, U. , REICHELL, T. , S
Page 231 and 232: [64] KING, F-J. and HIRSCH, P. Seam
Page 233 and 234: [86] CARGNELLI, M. and ROGOWSKI, A.
Page 235 and 236: [109] KURKIN, N. S. and DRIKKER, V.
Page 237 and 238: [130] USHIO, M. , LIU, W. , MAO, W.
Page 239 and 240: [151] DAVIS, A. R. Orr-line gap det
Page 241 and 242: [177] COOK, G. E. Feedback and adap
Page 243 and 244: [201] WON, Y. J. and CHO, H. S. A f
Page 245 and 246: 220
Page 247 and 248: 222
Page 249 and 250: wnum: local variable which defines
Page 251 and 252: Table A. 1 - continuation List item
Page 253 and 254: Imean = a2 + b2*WFS + c2*SO + d2*SO
Page 255 and 256: TCP2 number are also defined. The o
Page 257 and 258: f ROBSET. DAT: This file is created
Page 259 and 260: Figure C. 3 - Main dialogue box of
Page 261 and 262: Choose the set of welding parameter
Page 263 and 264: Water Cooling optic fibre bundle 0
Page 265 and 266: Figure E. 1 - Main graphical screen
Page 267 and 268: 242
Page 269 and 270: Table G. 2 - Interface box external
Page 271 and 272: Robot ii Controller +24W CO . +24Vd
Page 273 and 274: 248
Page 275 and 276: Table 1.1 - continuation Run Vpk M
Page 277 and 278: 10- y =0.001ac 0 r. dSO [mm] $0 '10
Page 279 and 280: 5.00- 0.00 y=0.0019x 1000 1500 2000
Page 281: Table J. 7 - Welding data collected
Page 285 and 286: Table J. 13 - Welding data collecte
Page 287 and 288: 20.00- 15. M y=0.0047x - 1.7922 10.
Page 289 and 290: Table J. 18 - Welding data collecte
Page 291 and 292: 266
Page 293 and 294: Table K. 1- continuation Set-up par
Page 295 and 296: Table K. 1 - continuation Set-up pa
Page 297 and 298: Table K. 2 - continuation Set up pa
Page 299 and 300: Table K. 2 - Continuation Set-up pa
Page 301 and 302: Table K. 3 - Continuation Set-up pa
Page 303: Table K. 3 - Continuation Setup par
show all

LIBRARY ı6ıul 0) - Cranfield University

Create successful ePaper yourself

Delete template?

Save as template?