A Conformal-Deposition Trajectory Planning Approach to Wire and Arc Additive Remanufacturing of Parts with Spatial Constraint Features

ZHENG Yexing; LI Yongzhe; ZHANG Guangjun; CHEN Xinyang; LI Chenyu

doi:10.7512/j.issn.1001-2303.2023.02.13

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A Conformal-Deposition Trajectory Planning Approach to Wire and Arc Additive Remanufacturing of Parts with Spatial Constraint Features
Vol. 53, Issue 2, Pages: 125-131(2023)
DOI： 10.7512/j.issn.1001-2303.2023.02.13

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郑业兴，李永哲，张广军，等.空间约束电弧增材再制造随形堆积轨迹规划方法［J］.电焊机，2023，53（2）：125-131.

ZHENG Yexing, LI Yongzhe, ZHANG Guangjun, et al.A Conformal-Deposition Trajectory Planning Approach to Wire and Arc Additive Remanufacturing of Parts with Spatial Constraint Features[J].Electric Welding Machine, 2023, 53(2): 125-131.
郑业兴，李永哲，张广军，等.空间约束电弧增材再制造随形堆积轨迹规划方法［J］.电焊机，2023，53（2）：125-131. DOI： 10.7512/j.issn.1001-2303.2023.02.13.

ZHENG Yexing, LI Yongzhe, ZHANG Guangjun, et al.A Conformal-Deposition Trajectory Planning Approach to Wire and Arc Additive Remanufacturing of Parts with Spatial Constraint Features[J].Electric Welding Machine, 2023, 53(2): 125-131. DOI： 10.7512/j.issn.1001-2303.2023.02.13.

摘要

电弧增材再制造根据损伤零件的既有形貌实施修复，通常面临空间约束问题。焊枪运动轨迹规划不仅需避免与既有零件发生干涉，还需根据局部形貌变换堆积姿态保证成形质量。提出了面向机器人现场原位修复的焊枪运动轨迹规划方法，具体介绍了机器人原位增材修复的基本工艺流程，构建了基于损伤零件表面三维点云处理的随形堆积焊枪姿态求解算法，阐明了焊枪运动轨迹生成及焊枪运动稳定性提升机制。针对实际损伤件，生成了焊枪运动轨迹，验证了算法的有效性。与其他经典算法进行对比，结果表明本研究提出的算法在提升焊枪稳定性方面的优越性。

Abstract

The implementation of wire and arc additive remanufacturing is based on damaged parts' morphology, which usually features space constraints. Planning the motion trajectory of the weld gun not only considers the interference problem but also needs to adapt the deposition gesture to the local morphology of deposition in order to enhance forming quality of beads. In this paper, a deposition trajectory planning method for robotic wire and arc additive remanufacturing is proposed, including the workflow of in-situ repair, an algorithm to calculate weld gun gestures for conformal deposition based on the three-dimensional point cloud of damaged parts, the mechanism for generating motion trajectory of weld gun, and an algorithm for improving weld gun motion stability during deposition. For validation, a damaged part was focused, and the trajectory of repair was generated. The experimental results approve the effectiveness of the proposed algorithms. Compared with other classical algorithms, its shows the superiority of this algorithm in improving the stability of weld gun.

关键词

增材再制造随形堆积轨迹规划稳定性分析滤波算法

Keywords

additive remanufacturingconformal depositiontrajectory planningstability analysisfilter algorithm

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