Research On Path Planning And Control Of Robot Wire And Arc Additive Manufacturing

Wire and Arc Additive Manufacturing(WAAM)uses the arc as a heat source to melt the metal welding wire,so that the metal welding wire is stacked and finally formed metal parts.It has the characteristics of low cost manufacturing,high utilization rate of silk material,high production efficiency,good mechanical and mechanical properties,and has a wide range of application prospects in manufacturing industry.At present,the existing additive manufacturing is mainly applied in polymer materials or powder materials,which is not suitable for arc additive manufacturing.This paper takes robotic arc additive manufacturing as the research object,builds a set of arc additive manufacturing system based on robots,studies the printing path planning method,develops additive manufacturing software,realizes the reading of SLC format model part files,and conducts arc additive manufacturing experiments.Several groups of welding parameters and bead forming tests were carried out,and the range of welding process parameters was determined.The relationship model between the welding parameters and the width and height of the weld pass was established by quadratic regression and rotation combination design.The model can predict the cross section size of the weld under different process parameters.The parabola function is selected as the approximate geometry function of the pass section,and the lap coefficient between the passes is measured by experiments,and the geometric models of the single and multi-pass sections are established.GA-BP neural network was used to select the number of hidden layer neurons,and the corresponding welding parameters were solved according to the given welding pass height and self-defined welding pass width in the SLC format model part file.The path planning methods of zoned linear scanning,contour offset scanning and the combination of them are studied.The offset measurement model based on Angle average method is adopted for the contour offset scanning mode.The strict monotone chain method is used to reduce the computation steps for the intersection of contour.Vector method is used to judge invalid rings and solve the problem of self-intersection between contours.For the recognition of the intersection points between contours,the access is used to judge,and the access points and vertices are traversed to achieve the intersection of polygons between contours.The experimental system of robot arc additive manufacturing was established,and the path planning method,weld section geometry model,welding process parameter control and arc additive manufacturing forming effect were verified by experiments.The experimental results show that the system meets the design requirements.