An off-line programming system for welding the root bead in pipe branches

Conference · Tue Dec 31 04:00:00 EST 1996

OSTI ID:443003

Lauridsen, J K; Madsen, O; Holm, H; Hafsteinsson, I; Boelskifte, J ^[1]

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1. Aalborg Univ. (Denmark)

At the Department of Production, Aalborg University, Denmark, an automatic off-line programming system for welding the root bead in pipe branches has been developed and tested successfully and implemented at Odense Steel Shipyard, Denmark. In this paper, the off-line system is presented. The system uses a Gas Metal Arc welding machine and a one degree of freedom manipulator for manipulation of the pipe branch, and a six degree of freedom robot for manipulation of the welding torch. The off-line programming system is based on (1) a geometry model of the pipe branch, that describes the groove variation, including gab variation, along the intersection of the main pipe and the nozzle and (2) an empirical established inverse welding process model, that maps the groove variation into appropriate welding control variables. In the paper, the main structure of the off-line programming system is presented. Furthermore, the main elements of the system is presented. Furthermore, the main elements of the system is presented. This includes a presentation of the empirical established inverse welding process model, and how the model together with the geometry model of the pipe branch are used to control the welding machine and the movement of the manipulator and robot. Finally, a number of weldings performed by the off-line programming system are presented and discussed, and future research areas is outlined.

• OSTI ID: 443003
• Report Number(s): CONF-950682--; ISBN 0-87170-567-2
• Country of Publication: United States
• Language: English

Related Subjects

36 MATERIALS SCIENCE
42 ENGINEERING
AUTOMATION
COMPUTERIZED CONTROL SYSTEMS
FEASIBILITY STUDIES
GAS METAL-ARC WELDING
PIPES
PROGRAMMING
ROBOTS
STEELS
VECTORS