A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization
Industrial robots are widely used in welding operations because of their high production efficiency. The structure of the robot and the complex stress conditions during welding operations lead to the vibration of the end of robot, which leads to welding defects. However, current vibration suppressio...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Technologies |
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| Online Access: | https://www.mdpi.com/2227-7080/13/1/12 |
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| author | Mingtian Ma Hong Lu Yongquan Zhang Zidong Wu He Huang Xujie Yuan Xu Feng Zhi Liu Zhangjie Li |
| author_facet | Mingtian Ma Hong Lu Yongquan Zhang Zidong Wu He Huang Xujie Yuan Xu Feng Zhi Liu Zhangjie Li |
| author_sort | Mingtian Ma |
| collection | DOAJ |
| description | Industrial robots are widely used in welding operations because of their high production efficiency. The structure of the robot and the complex stress conditions during welding operations lead to the vibration of the end of robot, which leads to welding defects. However, current vibration suppression techniques for welding robots usually only consider the robotic performance while overlooking their impact on the welding metal forming process. Therefore, based on the influence of robot vibration on welding pool stability during the welding process, a new welding robot vibration suppression method is proposed in this paper, along with the establishment of a welding pool stability assessment model. The proposed vibration suppression algorithm is based on the optimization of the welding trajectory. To enhance the performance of the method, the Particle Swarm Optimization (PSO) algorithm is applied to optimize the joint angular velocity and angular acceleration. Finally, robot welding experiments are designed and conducted. By comparing vibration measurement data and welding quality before and after the vibration suppression, the effectiveness and stability of the proposed method are validated. |
| format | Article |
| id | doaj-art-ce0b1cb7ad0e40bc92b8c3c3fe8a81d2 |
| institution | Kabale University |
| issn | 2227-7080 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Technologies |
| spelling | doaj-art-ce0b1cb7ad0e40bc92b8c3c3fe8a81d22025-01-24T13:50:44ZengMDPI AGTechnologies2227-70802024-12-011311210.3390/technologies13010012A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory OptimizationMingtian Ma0Hong Lu1Yongquan Zhang2Zidong Wu3He Huang4Xujie Yuan5Xu Feng6Zhi Liu7Zhangjie Li8Hubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Mechanical and Intelligent Manufacturing, Huanggang Normal University, Huanggang 438000, ChinaHubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, ChinaIndustrial robots are widely used in welding operations because of their high production efficiency. The structure of the robot and the complex stress conditions during welding operations lead to the vibration of the end of robot, which leads to welding defects. However, current vibration suppression techniques for welding robots usually only consider the robotic performance while overlooking their impact on the welding metal forming process. Therefore, based on the influence of robot vibration on welding pool stability during the welding process, a new welding robot vibration suppression method is proposed in this paper, along with the establishment of a welding pool stability assessment model. The proposed vibration suppression algorithm is based on the optimization of the welding trajectory. To enhance the performance of the method, the Particle Swarm Optimization (PSO) algorithm is applied to optimize the joint angular velocity and angular acceleration. Finally, robot welding experiments are designed and conducted. By comparing vibration measurement data and welding quality before and after the vibration suppression, the effectiveness and stability of the proposed method are validated.https://www.mdpi.com/2227-7080/13/1/12welding robotvibration suppressionrobot dynamics trajectory optimizationwelding pool fluctuation |
| spellingShingle | Mingtian Ma Hong Lu Yongquan Zhang Zidong Wu He Huang Xujie Yuan Xu Feng Zhi Liu Zhangjie Li A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization Technologies welding robot vibration suppression robot dynamics trajectory optimization welding pool fluctuation |
| title | A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization |
| title_full | A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization |
| title_fullStr | A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization |
| title_full_unstemmed | A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization |
| title_short | A Novel Vibration Suppression Method for Welding Robots Based on Welding Pool Instability Evaluation and Trajectory Optimization |
| title_sort | novel vibration suppression method for welding robots based on welding pool instability evaluation and trajectory optimization |
| topic | welding robot vibration suppression robot dynamics trajectory optimization welding pool fluctuation |
| url | https://www.mdpi.com/2227-7080/13/1/12 |
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