A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspec...A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.展开更多
For a low carbon steel tube with small wall factor D/t and bending radius R,the over-thinning induced localized necking is one dominant failure in tube numerical control(NC) bending process,which strongly restricts th...For a low carbon steel tube with small wall factor D/t and bending radius R,the over-thinning induced localized necking is one dominant failure in tube numerical control(NC) bending process,which strongly restricts the bendability limit of the tube.In addition,the deterioration of bendability of a tube is increased by the existence of the weak weld region.Therefore,an important issue is how to determinate and predict the welded tube bendability limit.In the present study,a finite element(FE) model with weld and subdivided heat affected zones under ABAQUS platform is employed to explore the deformation behaviors of welded tube NC bending.A localized necking criterion based on the critical thickness thinning is used to predict the critical principal strains,critical bending radius and burst location during the forming process.It is found that the failures always occur at the rigid supporting point of mandrel flexible balls near the tangent point at the outside of the bend,where the wall thickness of the tube is the lowest.The bending limit curves(BLCs) of the QSTE340 welded tube are obtained by shifting the standard shaped forming limit curve to the critical principal strains along the major strain axis.Comparison between the numerical and experimental results has shown that the BLC and critical bending radius predictions agree well with the experimental results.In addition,the effect of weld positions on BLC is discussed,the weld region shows an almost negligible effect on the forming limit at a non-critical location that is far away from the outside of the bend.However,when the weld is at the large tensile deformation region on the outside of the bend,a decrease of the forming limit strains is seen.展开更多
基金Foundation Program Conducted by Science&Technology Committee of National Defence ( T0 12 0 0 1A0 0 1)
文摘A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.
基金supported by the National Natural Science Foundation of China (Grant No. 50875216)111 Project (Grant No. B08040)
文摘For a low carbon steel tube with small wall factor D/t and bending radius R,the over-thinning induced localized necking is one dominant failure in tube numerical control(NC) bending process,which strongly restricts the bendability limit of the tube.In addition,the deterioration of bendability of a tube is increased by the existence of the weak weld region.Therefore,an important issue is how to determinate and predict the welded tube bendability limit.In the present study,a finite element(FE) model with weld and subdivided heat affected zones under ABAQUS platform is employed to explore the deformation behaviors of welded tube NC bending.A localized necking criterion based on the critical thickness thinning is used to predict the critical principal strains,critical bending radius and burst location during the forming process.It is found that the failures always occur at the rigid supporting point of mandrel flexible balls near the tangent point at the outside of the bend,where the wall thickness of the tube is the lowest.The bending limit curves(BLCs) of the QSTE340 welded tube are obtained by shifting the standard shaped forming limit curve to the critical principal strains along the major strain axis.Comparison between the numerical and experimental results has shown that the BLC and critical bending radius predictions agree well with the experimental results.In addition,the effect of weld positions on BLC is discussed,the weld region shows an almost negligible effect on the forming limit at a non-critical location that is far away from the outside of the bend.However,when the weld is at the large tensile deformation region on the outside of the bend,a decrease of the forming limit strains is seen.
