What is it about?
Industrial robots are currently applied for ship sub-assembly welding to replace welding workers because of the intelligent production and cost savings. In order to improve the efficiency of the robot system, a digital twin system of welding path planning for the arc welding robot in ship sub-assembly welding is proposed to achieve autonomous planning and generation of the welding path.
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Why is it important?
We first constructed a five-dimensional digital twin model of the dual arc welding robot system. Then, the system kinematics analysis and calibration are studied for communication realization between the virtual and the actual system. Besides, a topology consisting of three BVH trees is proposed to construct digital twin virtual entities in this system. Based on this topology, algorithms for welding seam extraction and collision detection are presented. Finally, the genetic algorithm and the RRT-Connect algorithm combined with region partitioning (RRT-Connect-RP) are applied for the welding sequence global planning and local jump path planning,
Perspectives
Traditional teaching methods require replanning welding paths when handling workpieces with varying geometric characteristics, which makes welding robots less flexible. To solve this problem, we proposed a digital twin system of welding path planning for the arc welding robot in ship sub-assembly welding. The path planning algorithm integrated in the system can quickly plan collision-free welding paths for multiple randomly placed workpieces, improving the intelligence and automation of welding.
Yi Hua
East China University of Science and Technology
Read the Original
This page is a summary of: Digital Twin Implementation of Autonomous Planning Arc Welding Robot System, Complex System Modeling and Simulation, September 2023, Tsinghua University Press,
DOI: 10.23919/csms.2023.0013.
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