In this paper, in order to predict the residual deformation of thick spherical structure, a welding program is compiled in APDL language based on Ansys and a numerical welding experiment of a welding example is carrie...In this paper, in order to predict the residual deformation of thick spherical structure, a welding program is compiled in APDL language based on Ansys and a numerical welding experiment of a welding example is carried out. The temperature field of welding was simulated firstly, then a thermal-structure coupling analysis was carried out, and at last the residual stress and deformation after welding were got. After that, the numerical experiment result was compared with physical experiment one. The comparative analysis shows that the numerical simulation fits well with physical experiment. On the basis of that, a three-dimensional numerical experiment of a thick spherical shell structure was carried out to get the changing rule of stress and deformation of a thick spherical shell structure during welding. The research is of great value to the prediction of residual deformation and high precision machining.展开更多
It is a challenging task for operators to program a remote robot for welding manipulation depending only on the visual information from the remote site. This paper proposes an intuitive user interface for programming ...It is a challenging task for operators to program a remote robot for welding manipulation depending only on the visual information from the remote site. This paper proposes an intuitive user interface for programming welding robots remotely using augmented reality （AR） with haptic feedback. The proposed system uses a depth camera to reconstruct the surfaces of workpieces. A haptic input device is used to allow users to define welding paths along these surfaces. An AR user interface is developed to allow users to visualize and adjust the orientation of the welding torch. Compared with the traditional robotic welding path programming methods which rely on prior CAD models or contact between the robot end-effector and the workpiece, this proposed approach allows for fast and intuitive remote robotic welding path programming with- out prior knowledge of CAD models of the workpieces. The experimental results show that the proposed approach is a user-friendly interface and can assist users in obtaining an accurate welding path.展开更多
文摘In this paper, in order to predict the residual deformation of thick spherical structure, a welding program is compiled in APDL language based on Ansys and a numerical welding experiment of a welding example is carried out. The temperature field of welding was simulated firstly, then a thermal-structure coupling analysis was carried out, and at last the residual stress and deformation after welding were got. After that, the numerical experiment result was compared with physical experiment one. The comparative analysis shows that the numerical simulation fits well with physical experiment. On the basis of that, a three-dimensional numerical experiment of a thick spherical shell structure was carried out to get the changing rule of stress and deformation of a thick spherical shell structure during welding. The research is of great value to the prediction of residual deformation and high precision machining.
文摘It is a challenging task for operators to program a remote robot for welding manipulation depending only on the visual information from the remote site. This paper proposes an intuitive user interface for programming welding robots remotely using augmented reality （AR） with haptic feedback. The proposed system uses a depth camera to reconstruct the surfaces of workpieces. A haptic input device is used to allow users to define welding paths along these surfaces. An AR user interface is developed to allow users to visualize and adjust the orientation of the welding torch. Compared with the traditional robotic welding path programming methods which rely on prior CAD models or contact between the robot end-effector and the workpiece, this proposed approach allows for fast and intuitive remote robotic welding path programming with- out prior knowledge of CAD models of the workpieces. The experimental results show that the proposed approach is a user-friendly interface and can assist users in obtaining an accurate welding path.
