Joint Configuration Research Articles

Multitask-Based Anti-Collision Trajectory Planning of Redundant Manipulators

During performing multiple tasks of a redundant manipulator, the obstacles affect the sequential order of task areas and the joint trajectories. The end-effector is constrained to visit multiple task areas with an optimal anti-collision path, while the joints are required to move smoothly and avoid predefined obstacles. A special encoding genetic algorithm (SEGA) is proposed for multitask-based anti-collision trajectory planning. Firstly, the spatial occupancy relationship between obstacles and manipulator is developed utilizing the theory of spherical enclosing box and spatial superposition. The obstacles are detected according to the relative position relationship between linear segments and spheres. Secondly, each joint trajectory between adjacent task areas is depicted with a sixth-degree polynomial. Additionally, each joint trajectory is improved via optimizing the unknown six-order coefficient. By searching for optimal sequential order of task areas, optimal collision detection results, and optimal joint trajectories, the multitask-based anti-collision trajectory planning problem is transformed into a parameter optimization problem. In SEGA, the cost function consists of two parts, including the end-effector path length and the variation of joint angles. Moreover, each chromosome consists of three categories of genes, including the sequential order of task areas, the sequential order of joint configurations corresponding to task areas, and the unknown coefficients for anti-collision joint trajectories. Finally, numerical simulations are carried out to verify the proposed method.

Taguchi, Grey Relational Analysis, and ANOVA Optimization of TIG Welding Parameters to Maximize Mechanical Performance of Al-6061 T6 Alloy

This study presents a comprehensive investigation into optimizing Tungsten Inert Gas (TIG) welding parameters to enhance the mechanical performance of the widely used Al-6061 T6 alloy, specifically in a double V joint configuration with a plate thickness of 6 mm, for aerospace applications. The Taguchi method was employed to design the experiments, providing a robust framework for analyzing the influence of the electrical current, voltage, and gas flow rate on weld quality. Additionally, a Grey Relational Analysis (GRA) and an Analysis of Variance (ANOVA) were used to validate the optimal welding parameters and quantify the significance of each factor. The optimized parameters were determined to be an amperage of 180 A, a voltage of 18 V, and a gas flow rate of 10 L/min, resulting in significant improvements of up to 40% in tensile strength and 23% in hardness, demonstrating the effectiveness of the optimized conditions. The findings provide valuable insights into welding metallurgy, offering practical guidelines for enhancing high-performance welded joints in critical industrial applications. This study underscores the potential of combining Taguchi, GRA, and ANOVA methodologies to achieve superior mechanical properties and reliability in welded structures.

A Matrix-Based Approach to Unified Synthesis of Planar Four-Bar Mechanisms for Motion Generation With Position, Velocity, and Acceleration Constraints

Abstract This paper introduces a novel matrix-based approach for the simultaneous type and dimensional synthesis of planar four-bar linkage mechanisms, accommodating various practical constraints, including position, velocity, acceleration, and joint placements. Traditional design processes segregate type synthesis, the determination of joint and link configurations, from dimensional synthesis, which involves specifying link sizes and pivot locations. This segregation often leads to complexities in addressing the complete design challenge. The novel methodology proposed in this paper departs from the conventional sequential design approach by concurrently evaluating type and dimensional parameters using a data-driven matrix formulation. The crux of the paper’s methodology involves formulating a singular design equation through a transformation matrix, parameterized by the Cartesian parameters of the mechanism’s dyads. This formulation linearly expresses a broad range of constraints, facilitating the identification of viable solutions through singular value decomposition and null space analysis. This integrated approach not only simplifies the synthesis process but also provides direct insights into the mechanism’s parameters, encompassing both type and dimensions, thereby obviating the need for further interpretative steps common to the use of quaternions and kinematic mapping. In essence, the paper presents two main contributions: the development of a unified design equation capable of encompassing a wide array of constraints within the mechanism synthesis process, and the introduction of an algorithm that effectively identifies all potential planar four-bar linkage mechanisms by accurately satisfying up to five constraints. This approach promises to enhance the design and optimization of mechanical systems by offering a more holistic and efficient pathway to mechanism synthesis.

Deflection function of a novel bolt-connected precast concrete floor

Owing to the post-cast procedure and relatively complex joint configuration, composite precast floors limit the full display of advantages of precast concrete systems. The development of fully assembled precast floors is of necessity; therefore, a novel bolt-connected precast concrete floor was proposed in this study to meet the increasing demand for quick assembly, lightweight, and good insulation in flooring systems. The proposed floors consist of precast sandwich unit slabs that are fully assembled to an integral floor with dry-type bolted connectors. Field static loading tests were conducted on four full-scale precast concrete floors. The test results indicate that the floors exhibited a two-way flexural ability due to the involvement of the bolted connectors. The restraining mechanism at anchorage and load-transferring mechanism at joints were investigated through a theoretical analysis. Based on the theory of plates and shells, a simplified theoretical method of solving the deflection function of the floors was established and validated to provide a reference for designing such fully assembled floors. The comparison between the theoretical and experimental results indicates that the arrangement of joint connectors could affect the theoretical calculation accuracy due to its influence on the performed continuity simplification. The application scope of the proposed theoretical method was evaluated through a finite element analysis.

Experimental and numerical study of dissimilar fiber laser welding of martensitic AISI 1060 carbon steel with different configuration with austenitic 304 and ferritic 420 stainless steel

Welding with fiber laser for two distinct stainless steel types was performed to join with the martensitic carbon steel (AISI 1060) in order to assess the effect of laser welding operating parameters for two dissimilar materials on the weld characterization thorough experimental design method and numerical investigation. A full central composite design (CCD) matrix in accordance with the response surface methodology (RSM) was developed to represent the responses variations by equations including quadratic and nonlinear interaction terms. Different laser welding parameters were taken into account, such as laser power, linear speed of welding, focal distance of the beam, and beam deviation. The responses considered were the temperature field next to the melt pool border line, the maximum penetration depth of the fusion zone and the ultimate tensile strength of the dissimilar weld joint. Additionally, the variation of the microstructure fusion zone and adjacent areas and failure mechanism of the weld joint were evaluated. The experimental results indicate that the temperature field measured at the vicinity of the melt pool fusion line with both 304 and 420 stainless steel which primarily influenced by the incident power of the laser and linear velocity of beam, respectively. Additionally, the numerical simulation results are in good agreement with temperature experimental results at vicinity of fusion line where the temperature measured, experimentally. Apart from this, at the center of the fusion zone, the temperature clearly predicts via numerical simulation results which is not possible to assess experimentally. A clear comparison between the temperature distribution with different joint configuration illustrates that distinct relation between the temperature variation rate and different thermal conductivity coefficient of AISI 1060 with different AISI 304 and 420 joint configuration resulted different temperature distribution. The weld joint microstructure for 420 stainless steel–AISI 1060 steel joint at fusion boundary zone consists of columnar dendrites and skeletal columnar ferrite. At the center of fusion zone, a cellular-type structure is seen. For 304 stainless steel joint, the fusion zone has composed of a remarkable part of skeletal delta-ferrite and dendritic microstructure at austenite matrix microstructure. The fracture section of 304 steel has a ductile fracture and the depth of fracture dimples and cavities toward 304 stainless steel are higher than AISI 1060 steel.

Dynamics of Dominance in Interacting Zebrafish

While two-body fighting behavior occurs throughout the animal kingdom to settle dominance disputes, important questions such as how the dynamics ultimately lead to a winner and loser are unresolved. Here we examine fighting behavior at high resolution in male zebrafish. We combine multiple cameras, a large volume containing a transparent interior cage to avoid reflection artifacts, with computer vision to track multiple body points across multiple organisms while maintaining individual identity in three dimensions. In the body point trajectories we find a spectrum of timescales which we use to build informative joint coordinates consisting of relative orientation and distance. We use the distribution of these coordinates to automatically identify fight epochs, and we demonstrate the postfight emergence of an abrupt asymmetry in relative orientations—a clear and quantitative signal of hierarchy formation. We identify short-time, multi-animal behaviors as clustered transitions between joint configurations, and show that fight epochs are spanned by a subset of these clusters, which we denote as maneuvers. The resulting space of maneuvers is rich but interpretable, including motifs such as “attacks” and “circling.” In the longer-time dynamics of maneuver frequencies we find differential and changing strategies, including that the eventual loser attacks more often towards the end of the contest. Our results suggest a reevaluation of relevant assessment models in zebrafish, while our approach is generally applicable to other animal systems. Published by the American Physical Society 2024

Evaluating overhanging slope failure mechanisms and rockfall trajectories through integrated UAV imagery and discrete element modeling

AbstractTo evaluate the threat of rockfall from an overhanging slope above a bridge, this study proposes a comprehensive analysis procedure to assess the failure mechanisms of the slope and the associated rockfall trajectories. The analysis utilizes high-resolution point cloud data obtained through integrated UAV-based imagery technology, enabling a detailed evaluation of joint configurations and slope stability. The geometric reconstruction of unstable rock blocks, combined with stereographic projections, provides an in-depth analysis of potential failure modes. Discrete element modeling (DEM) is employed to simulate the failure processes and predict rockfall trajectories, with particular emphasis on the potential risks to the underlying bridge. The results indicate that rockfall events near the bridge are primarily driven by wedge-shaped failures, a finding confirmed by both the proposed inverted three-dimensional projection method and DEM simulations. The analysis identifies critical rock blocks near the bridge, underscoring the need for targeted mitigation strategies. This case study demonstrates the effectiveness of integrating UAV-derived data with DEM for assessing overhanging slope failures and managing rockfall risks in similar geological settings.

Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators.

The inverse kinematics of robotic manipulators involves determining an appropriate joint configuration to achieve a specified end-effector position. This problem is challenging because the inverse kinematics of manipulators are highly nonlinear and complexly coupled. To address this challenge, the bald eagle search optimization algorithm is introduced. This algorithm combines the advantages of evolutionary and swarm techniques, making it more effective at solving nonlinear problems and improving search efficiency. Due to the tendency of the algorithm to fall into local optima, the Lévy flight strategy is introduced to enhance its performance. This strategy adopts a heavy-tailed distribution to generate long-distance jumps, thereby preventing the algorithm from becoming trapped in local optima and enhancing its global search efficiency. The experiments first evaluated the accuracy and robustness of the proposed algorithm based on the inverse kinematics problem of manipulators, achieving a solution accuracy of up to 10-18 m. Subsequently, the proposed algorithm was compared with other algorithms using the CEC2017 test functions. The results showed that the improved algorithm significantly outperformed the original in accuracy, convergence speed, and stability. Specifically, it achieved over 70% improvement in both standard deviation and mean for several test functions, demonstrating the effectiveness of the Lévy flight strategy in enhancing global search capabilities. Furthermore, the practicality of the proposed algorithm was verified through two real engineering optimization problems.

Development of an intelligent-based telemetry hexapod robotic system for surveillance of power system components

A robot is an artificial system that performs specific programmed tasks to aid day-to-day human activities. Robot finds applications in industries for large-scale production, healthcare for computer-aided surgeries, security for surveillance of electrical power system equipment, and the military for carrying out dangerous reconnaissance. Most robotic systems employed for different operations use a wheeled mode of locomotion which has limitations over rough terrains and the issue of communication setup of the system. This work developed a hexapod, a six-legged robotic system, to overcome these identified challenges. The robot was developed in tandem with a telemetry system for surveillance. Although, automating the surveillance process using robotic systems has been in the works for some time. However, this work developed a telemetry hexapod robotic system for enhanced surveillance for the security of power systems equipment and other critical infrastructures using a Raspberry Pi for fast, secure data transmission, and precise system synchronization. An inverse kinematics approach was used to determine joint configurations for better positions of each endpoint. A digital camera was integrated into the robot to relay real-time images of adversaries of power system components intelligently. In addition, the system incorporates data processing capability. In the result obtained, the developed telemetry hexapod robotic system receives instructions over a distance slightly above 300 m. It establishes effective control of the telemetry system without any hindrance of a limited range as observed in Bluetooth-controlled systems. The system's performance includes an average efficiency of 98.2 %, latency of 0.48 s at the peak distance, and an endurance of 4 h. Further analysis of the system shows that the corresponding increase in the latency with the distance is negligible. The system performed better than other related systems considered in the literature. The correct implementation of the developed telemetry hexapod robotic system further enhances mobility, stability in rough terrain, reliable communication system. Also, it brings about a notable reduction in component theft in electrical power systems.

An experimental-cohesive zone model approach to predict fatigue life of adhesive joints with varying modes of loading and joint configurations for automotive applications

ABSTRACT Predictive fatigue life models of adhesive joints are necessary to enable the assessment of automotive-bonded structures while reducing costly experimental testing. However, contemporary models have typically been calibrated for specific joint configurations and modes of loading, limiting their applicability to large-scale structures. Additionally, available models are based on simulation of cumulative fatigue cycling, making them computationally prohibitive. In the current study, cross-tension (CT) (load angles of 0°, 45°, and 90°) and single-lap shear joint (SLJ) configurations were bonded using an epoxy adhesive (BetaGuard CI6125R; PPG, France) used in automotive production (one part) and tested under fatigue cyclic loading. A total of nine joint configurations, having symmetrical (same material and thickness) and asymmetrical (dissimilar material or unequal thickness) joints, were tested. Fatigue tests at load levels between 25% and 75% of the static peak load were performed until joint failure or to runout (two million load cycles). The static tests of the joints were simulated to failure using finite element (FE) models with the cohesive zone method (CZM). The maximum strain energy release rates ( G max ) were calculated within the adhesive bond line at static loads corresponding to the peak loads of the fatigue tests. The G max values, computed from single cycle, specimen-specific FE simulations, were correlated with the measured fatigue life ( N f ) of the adhesive joints with varying modes of loading and joint configurations. The fatigue life prediction model, based on G max − N f correlation and following a crack propagation approach, predicted the cycles to failure for 85% of the fatigue tests, and 81% of the independent validation tests. The proposed fatigue life prediction approach provides computational efficiency and large-scale compatibility.

Influence of in-plane transverse compression on the behaviour of the face plate component in weak axis and tubular steel joints

The behaviour of the face-plate component under out-of-plane loading has been previously studied, and analytical formulations characterizing the initial stiffness have been proposed. However, research investigating the response of this component under simultaneous transverse loading is limited. This study examines the influence of in-plane transverse compression on the out-of-plane behaviour of the face-plate component in weak axis and tubular beam-to-column steel joints. An experimental test campaign was conducted, covering five representative joint configurations for connections to both I-section and tubular columns. Finite element models of the tested specimen were generated and validated based on the test results. Subsequently, these results were supplemented by two sets of numerical parametric studies, encompassing a total of 329 connections under different levels of transverse loads. The results indicate the detrimental effect of transverse compression on the stiffness and resistance of the face-plate component. Analytical expressions for the reduction of initial stiffness under compressive in-plane transverse loads were proposed and validated, facilitating easy incorporation into design standards.

Influence of hygrothermal aging on the lifetime and mechanical properties of GFRP/Al adhesive joints

The study aimed to investigate the impact of hygrothermal aging on the degradation of mechanical properties and predict the lifetime of adhesive joints between aluminum alloy (AA6061) and glass fiber-reinforced epoxy (GFRP) composites. The adhesive joints were prepared in a single lap joint (SLJ) configuration and subjected to hygrothermal conditions to induce aging. Immersion tests were conducted at a water temperature of 70°C with varying aging periods (10, 18, 40, 54, 60, and 75 days) to assess the long-term performance and predict the lifetime of the joints. The tensile and shear strength of the adhesive joints were evaluated using a tensile test. The test was performed at room temperature (RT) with a speed rate of 1.3 mm/min. Among the different methods available for lifetime prediction, a semi-empirical approach was selected to analyze the changes in the mechanical properties of the adhesive joints. A comprehensive comparison was made between aged and unaged specimens. The experimental results revealed a reduction in the ultimate tensile and shear strength of the adhesive bonds over the 75-day aging period. The semi-empirical relationship used for long-term durability prediction of adhesive joint structures indicated a 78% decrease in ultimate tensile strength for the adhesive joints over a one-year aging period. This highlights the significant influence of hygrothermal aging on the mechanical properties of the investigated adhesive joints. During the aged periods, various failure modes were observed, including adhesive failure, cohesive failure, and structural failure.

A comprehensive study on laser welding of stainless steel 301LN in lap joint configuration

A comprehensive study on laser welding of stainless steel 301LN in lap joint configuration

Experimental testing and plastic strain analysis of high strength steel longitudinal plate to tubular X joints

Applying high strength steels to tubular joints can increase the propensity to fracture failure due to their lower ductility. However, to simulate the fracture behavior in the finite element (FE) analysis, sophisticated material damage model with rigorous fracture criteria should be incorporated. Recently, the latest draft of ISO 14346 has advocated the use of 5% strain limit in FE analysis of tubular joints. The strain limit concept has been further developed by the authors’ previous work, for its use as a practical alternative to the complicated material damage model. Specifically, a lowered limit of 2.5% was recommended for longitudinal plate to circular hollow section (CHS) joints subjected to in-plane bending. This study extends the strain limit investigation to longitudinal plate to tubular X joints subjected to tensile loads. An experimental program is first presented which included both CHS and rectangular hollow section (RHS) chord members fabricated from two high strength steels with nominal yield stresses of 460 MPa and 700 MPa. Based on test-validated supplemental numerical analyses, it is suggested that the joint load corresponding to 2.5% strain limit can be taken as the load-bearing capacity to suppress occurrence of a fracture failure for the tubular joint configurations considered in this study.

Fatigue and Ultimate Strength Evaluation of GFRP-Reinforced, Laterally-Restrained, Full-Depth Precast Deck Panels with Developed UHPFRC-Filled Transverse Closure Strips

A depth precast deck panel (FDDP) is one element of the prefabricated bridge element and systems (PBES) that allows for quick un-shored assembly of the bridge deck on-site as part of the accelerated bridge construction (ABC) technology. This paper investigates the structural response of full-depth precast deck panels (FDDPs) constructed with new construction materials and connection details. FDDP is cast with normal strength concrete (NSC) and reinforced with high modulus (HM) glass fiber reinforced polymer (GFRP) ribbed bars. The panel-to-girder V-shape connections use the shear pockets to accommodate the clustering of the shear connectors. A novel transverse connection between panels has been developed, featuring three distinct female-to-female joint configurations, each with 175-mm projected GFRP bars extending from the FDDP into the closure strip, complemented by a female vertical shear key and filled with cementitious materials. The ultra-high performance fiber reinforced concrete (UHPFRC) was selectively used to joint-fill the 200-mm transverse joint between adjacent precast panels and the shear pockets connecting the panels to the supporting girders to ensure full shear interaction. Two actual-size FDDP specimens for each type of the three developed joints were erected to perform fatigue tests under the footprint of the Canadian Highway Bridge Design Code (CHBDC) truck wheel loading. The FDDP had a 200-mm thickness, 2500-mm width, and 2400-mm length in traffic direction; the rest was over braced steel twin girders. Two types of fatigue test were performed: incremental variable amplitude fatigue (VAF) loading and constant amplitude fatigue (CAF) loading, followed by monotonically loading the slab ultimate-to-collapse. It was observed that fatigue test results showed that the ultimate capacity of the slab under VAF loading or after 4 million cycles of CAF exceeded the factored design wheel load specified in the CHBDC. Also, the punching shear failure mode was dominant in all the tested FDDP specimens.

Configuration and Parameter Optimization Design of a Novel RBR-2RRR Spherical Hybrid Bionic Shoulder Joint

To improve the workspace, linear displacement stiffness, and driving torque utilization of humanoid robot shoulder joint mechanisms, an offset-designed RBR-2RRR (R represents the revolute pair, and B represents the ball cage joint) spherical hybrid bionic shoulder joint configuration (SHBSJC) is proposed and its structural parameters are optimized. Firstly, the shoulder joint’s physiological structure is biomimetically designed, a prototype mechanism of RBR-2RRR SHBSJC is proposed, and its kinematics are solved. The deformation response of RBR-2RRR and 3-RRR under the same load is compared to verify the obtained configuration can improve the linear displacement stiffness. Considering the workspace and singularity, using the GCI and GDCI as optimization functions, the recommended and adopted values of structural parameters are obtained. The distribution diagrams of the LCI and LDCI demonstrate that the configuration meets performance expectations. To further increase the prototype mechanism’s workspace and match the human shoulder joint’s motion range, an offset-designed RBR-2RRR SHBSJC is proposed, and the offset angle, installation posture angle, and spatial mapping relationship of the mechanism are determined. The results of workspace comparison and virtual model machine action simulation indicate that the final configuration meets the workspace expectations. This work enriches the shoulder joint configuration types and has engineering application value.

Curriculum Design and Sim2Real Transfer for Reinforcement Learning in Robotic Dual-Arm Assembly

Robotic systems are crucial in modern manufacturing. Complex assembly tasks require the collaboration of multiple robots. Their orchestration is challenging due to tight tolerances and precision requirements. In this work, we set up two Franka Panda robots performing a peg-in-hole insertion task of 1 mm clearance. We structure the control system hierarchically, planning the robots’ feedback-based trajectories with a central policy trained with reinforcement learning. These trajectories are executed by a low-level impedance controller on each robot. To enhance training convergence, we use reverse curriculum learning, novel for such a two-armed control task, iteratively structured with a minimum requirements and fine-tuning phase. We incorporate domain randomization, varying initial joint configurations of the task for generalization of the applicability. After training, we test the system in a simulation, discovering the impact of curriculum parameters on the emerging process time and its variance. Finally, we transfer the trained model to the real-world, resulting in a small decrease in task duration. Comparing our approach to classical path planning and control shows a decrease in process time, but higher robustness towards calibration errors.

Optimization of Shear Resistance in Horizontal Joints of Prefabricated Shear Walls through Post-Cast Epoxy Resin Concrete Applications

The horizontal joint is a critical component of the prefabricated shear wall structure, responsible for supporting both horizontal shear forces and vertical loads along with the wall, thereby influencing the overall structural performance. This study employs direct shear testing and finite element analysis to investigate the horizontal joint in walls with ring reinforcement. It examines the impact of various factors on joint shear performance, including the type of joint material, joint configuration, buckling length of ring reinforcement, strength of precast concrete, reinforcement ratio of ring reinforcement and dowel bars, and the effect of horizontal binding force. The findings indicate that the shear bearing capacity and stiffness of joints incorporating post-cast epoxy resin concrete and keyways are comparable or superior to those of integrally cast specimens. A larger buckling length in ring reinforcement may reduce shear strength, suggesting an optimal buckling length at approximately one-third of the joint width. As the strength of precast concrete increases, ductility decreases while bearing capacity increases, initially at an increasing rate that subsequently declines. Optimal results are achieved when the strength of precast concrete closely matches that of the post-cast epoxy concrete. Enhancing the reinforcement ratio of ring reinforcement improves shear capacity, but excessively high ratios significantly reduce ductility. It is recommended that the diameter of ring reinforcement be maintained between 10 mm and 12 mm, with a reinforcement ratio between 0.79% and 1.13%. Increasing horizontal restraint enhances stiffness and shear capacity but reduces ductility; thus, the axial compression ratio should not exceed 0.5.

A novel method for shape pre-optimization of fir-tree couplings in blade-disk connections

This paper presents an innovative approach to the pre-optimization of the blade-disk fir-tree coupling, with the intent of advancing the design and analysis of such connections in turbomachinery. These couplings are subjected to extreme mechanical loads, primarily from centrifugal forces during turbine operation, compounded by aerodynamic and vibrational forces. These conditions pose substantial challenges to ensuring the structural integrity and long-term reliability of the connections. Failure of the blade-disk attachment can lead to catastrophic consequences, making the optimization of these joints crucial.The proposed pre-optimization method addresses this by optimizing the distribution of material between the blade-root, disk-post, and engaging teeth, ensuring uniform load distribution across all teeth. A novel one-dimensional radial spring model is introduced, which simplifies the representation of the joint. The method achieves accurate load-sharing without requiring knowledge of the spring stiffness values, instead relying on stiffness ratios, which in turn are approximated equal to ratios between the areas of throat cross-sections. This approach effectively balances tensile stresses, contact pressures, and, proportionally, local stress peaks, all while streamlining the design process.Validation against finite element models demonstrates the model’s accuracy across different joint configurations with varying numbers of teeth. This method serves as a foundation for more detailed analysis and future optimization efforts, including those targeting specific failure mechanisms such as fretting fatigue and peak stress mitigation. Overall, this work offers a practical and efficient approach to enhancing the performance and reliability of blade-disk connections in turbomachinery.

Welding electrical connections between battery sheet metal materials and additively manufactured (AM) aluminum components: The effect of surface roughness

The integration of additive manufacturing's design versatility with a push for electrification can lead to unique innovations. In this context, when discussing welded joints, their quality and reliability play a significant role. The restricting factor for the use of laser powder bed fusion of metal (PBF-LB/M) additive manufactured (AM) parts is often their surface quality in the as-built state. In addition, the surface quality changes when part plane orientation changes. In this study, AlSi10Mg aluminum test samples were additive manufactured in seven different build angles. The AM samples were glass bead blasted after manufacturing, and the surface roughness of the joint surface area was optically measured. After the measurement, the AM samples were welded to nickel-plated copper and aluminum sheet metals. A continuous wave single-mode fiber laser with scanner optics was used to carry out the welding experiments in lap joint configuration. The structural and mechanical properties of the welds were evaluated by the macroscopic images of weld cross sections and tensile testing of the samples. The electric resistivity of the samples was also tested. Based on the measurement results of the samples, the impact of surface quality was discussed. The results indicated that there was no clear effect of building angle on the final weld quality. The worst surface quality in the joint area was on the test pieces in which the joint surface was facing down toward the build plate.