Abstract
Industrial robotics is a continuously developing area of in-depth robotics research, as industrial robots have demonstrated to possess advantages in the robotic automation solutions in the industrial automation applications. In this paper, a novel automatic seam bead grinding robot manipulator with the integration of machining and measuring is proposed and an experimentation platform is developed for the robotic removal of the seam weld beads at welded pipe ends. Also, a robotic grinding motion planning methodology, which consists of a robotic operation process motion planning approach and a robotic seam bead grinding method, is presented for the appropriate motion planning and applications of the operational processes. Furthermore, the effectiveness of the robotic grinding motion planning methodology and the superiorly operational manipulation performance of the proposed robot manipulator are verified through a robotic grinding experiment for the removal of external seam weld beads at a helical welded pipe end.
Highlights
Industrial robotics is an area of in-depth robotics research with advanced technology for the variety of industrial automation applications that attracts considerable attention in recent years [1]–[6]
The development and application of industrial robots are confined, to a certain extent, to the field of advanced manufacturing due to the lack of stiffness and only withstanding relatively low cutting force of an industrial robot compared to a numerical control machine, the industrial robot, as a commonly available and cost-effective choice, exhibits its own advantages and potentials especially in some applications that require high dexterity adjustment and manipulation performance, large working space, large-sized complex shaped parts and/or operational machining in a wide range
(4) A seam weld beads removal experiment is conducted on the developed experimentation platform, that demonstrates the grinding performance of the proposed robot manipulator and the effectiveness of the proposed robotic operation process motion planning approach and the proposed robotic seam bead grinding method
Summary
Industrial robotics is an area of in-depth robotics research with advanced technology for the variety of industrial automation applications that attracts considerable attention in recent years [1]–[6]. Robots are extensively invented and introduced into factories for robotic grinding and machining and other applications such as materials handling, spot welding, spray automation and parts assembly Such robotic automation frees human operators from tedious and tiring labor and such industries rapidly retool their manufacturing lines into robot-integrated systems. (1) The structure design of the robot manipulator and the developed experimentation platform are proposed for the automatic removal of seam weld beads at pipe ends and the weld seam profile measurement. (4) A seam weld beads removal experiment is conducted on the developed experimentation platform, that demonstrates the grinding performance of the proposed robot manipulator and the effectiveness of the proposed robotic operation process motion planning approach and the proposed robotic seam bead grinding method. A robotic seam bead grinding method and a robotic operation process motion planning approach are proposed for robotic weld beads removal in Sections VI and VII, respectively.
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