Design And Development Of Path Planning Software For Robotic Metal Arc Welding Printing

With the rapid development of science and technology,the additive manufacturing technology has provided a new way for the product manufacturing in our life.So an increasing number of domestic and foreign researchers have joined this research area.Metal arc welding additive manufacturing technology has become a kind of metal processing method with industrial application value because of its high manufacturing efficiency and good workpiece performance.At present,metal arc welding additive manufacturing technology with industrial robot as motion mechanism is widely used.In the path planning of metal workpiece,the method of teaching program is commonly utilized.But this method is tedious to operator and takes a long time for welding.Therefore,the commercial software such as Robot Master can be used for slice design,which is expensive and fails to integrate with the technological parameters required in the welding process.So it is only suitable for the production of a single product manufacturers and repeated debugging after mass production.In view of the above deficiencies,designing a path planning software that can combine process parameters with model design is particularly necessary for the diversified design of metal additive manufacturing.For this reason,this thesis proposes a GUI design software for robot metal arc welding printing path planning.This thesis is closely focused on the problem of software design,which is mainly divided into three modules including process parameter design module,model design module and machine language conversion module.The details of this thesis is listed as the follows.(1)Process parameters module: Firstly,Ansys simulation study was carried out on the technological parameters that affect the forming workpiece during the metal additive process,and several main parameters that have a greater impact on the weld bead forming were obtained such as welding current,welding voltage,scanning speed,dead speed and etc.Then,the working platform for metal additive manufacturing of robot was built and the process parameter experiment was conducted based on the simulation results.The robot adopts the Easton robot provided by the laboratory.The correctness of the simulation is verified by the process parameter experiment.At the same time,a large number of experimental data were obtained.Then,a BP neural network combined with Particle Swarm Optimization(PSO)method was used to establish the prediction model for weld bead morphology.The height and width of the corresponding weld bead can be obtained by inputting different process parameters.Finally,the interactive interface is designed in the GUI design interface of Matlab,and the trained neural network model is called by the link of the module with other modules of the software.(2)Model design module: Model design is divided into two ways: layer by layer design and external data model import.It not only satisfies the design of simple regular model,but also realizes the design of complex irregular model.At the same time,the data points can be saved in the file,which is convenient to modify and use and can be converted into machine language in the machine language conversion module.(3)Machine language conversion module: Convert files containing coordinate point data into machine language files for welding.This converted file can be directly imported into the robot controller of the welding platform,and there is no need to debug the process parameters.It can be directly used for shape welding and realize the goal of off-line programming.Finally,test the function of each module of the software.The experiment of software model design to workpiece welding forming proves that the metal arc welding additive manufacturing path planning software designed in this thesis has certain practical value.