An off-line programming system for welding the root bead in pipe branches
- 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; TRN: IM9712%%428
- Resource Relation:
- Conference: 4. international conference on trends in welding research, Gatlinburg, TN (United States), 5-9 Jun 1995; Other Information: PBD: 1996; Related Information: Is Part Of Trends in welding research: Proceedings of the 4. international conference; Smartt, H.B.; Johnson, J.A. [eds.] [Idaho National Engineering Lab., Idaho Falls, ID (United States)]; David, S.A. [ed.] [Oak Ridge National Lab., TN (United States)]; PB: 836 p.
- Country of Publication:
- United States
- Language:
- English
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