Modeling the formation of oxide inclusions in low alloy steel welds
- Oak Ridge National Lab., TN (United States)
- Pennsylvania State Univ., University Park, PA (United States)
An automated plasma spray facility was needed to apply refractory material to the inside of cylindrical graphite crucibles. A tilt-rotary table and a Schilling Titan 7 manipulator were available for developing a system to manipulate the plasma spray gun and crucible. IGRIP simulation software was used to generate the workcell layout. Simulation also revealed that the Schilling joint motion was constrained by the small inside diameter of the crucible. Because of the motion constraints, the spray gun could not be properly reoriented during the transition from spraying crucible sides to bottom. This was solved with a custom end effector that reoriented the spray gun. Motive power for the reorientation was provided by wrist rotation. A controller was developed to simplify generation of spray paths and coordinate the Schilling and tilt-rotary table. Software was generated by modification of existing Schilling teach/playback code. This software ran on a PC embedded in a VME system.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 170583
- Report Number(s):
- CONF-950682-10; ON: DE96003779
- Resource Relation:
- Conference: 4. international conference on trends in welding research, Gatlinburg, TN (United States), 5-9 Jun 1995; Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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