LIBRARY ı6ıul 0) - Cranfield University

FIGURES
TABLES
APPENDICES
NOTATION
1. Introduction
1.1 Objectives
1.2 Thesis organisation
2. Literature Review
2.1 GMAW process
2.1.1 Process description
2.1.2 Modes of metal transfer
CONTENTS
2.1.3 Welding arc electrical characteristics
2.1.4 Weld pool behaviour
2.1.5 Process stability
2.1.5.1 litre melting behaviour in gas metal arc welding
2.1.5.2 Instability in GMAW
2.1.5.3 Existing stability assessment methods
2.1.6 Weld quality
2.2 Robotic arc welding
2.2.1 The arc welding robot
2.2.2 Welding power source
2.2.2.1 Volt-ampere characteristics
2.3 Robot programming
2.3.1 On-line programming
2.3.2 Off-line programming
2.4 Off-line programming applied to robotic arc welding
2.4.1 "Ideal world" versus "Real world"
2.4.2 Robot calibration
2.4.3 Cell calibration
2.4.4 Assessment of programming errors
2.4.5 Workpiece tolerances and positioning
2.5 Common production problems with robotic welding
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