Generation of trajectories-robot by off-line programming to obtain high quality MAG welding beads

Aponte A. R.D.; Villaviencio. R.A.; Prado G. S.R. · 2020 IEEE ANDESCON, ANDESCON 2020 (2020) · DOI: 10.1109/andescon50619.2020.9272075

Resumen

Achieve and maintain quality in the arc welding beads for as long as the work lasts is one of the most important challenge that every welding installation must achieve. In this work, Off-line programming is used to design, process, and optimize the robots TCP (Tool Center Point) trajectories to obtain high quality MAG welding beads. First, the entire MAG welding process to be perform is modelled in a virtual environment. Second, within the virtual environment, the robot, angle of attack, welding tool, mechanical tooling, speed according to work sections are efficiently configured. Third, the optimal trajectories are generated by off-line programming until obtain the code G which install into the real (physical) robot computer. Finally, different applications from a virtual environment to a real are shown and discussed using a conventional welding robot KUKA KR10 R1420.

Instituciones: Universidad Nacional de Trujillo; Universidad Privada Antenor Orrego