An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torc...An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.展开更多
Welded joint is a critical region of a welded structure.The operational safety of welded pressure equipment mostly depends on the behaviour of loaded weldments.Safety of welded structure is dependent on the properties...Welded joint is a critical region of a welded structure.The operational safety of welded pressure equipment mostly depends on the behaviour of loaded weldments.Safety of welded structure is dependent on the properties of welded joint as whole and of its constituents (parent metal,heat affected zone and weld metal).In this paper the behaviour of welded joint cracked constituents is considered.Structural integrity assessment procedure is applied to welded pressure vessel produced of high-strength low-alloyed steel,operating at-40°C,comparing crack driving force and material crack resistance,using path-independent contour J-integral as fracture mechanics parameter.The comparison of crack driving force,expressed by J-integral and material resistant curve,J-R curve,provide the possibility to determine the extent of the stable crack as well as the critical crack size for its final fast propagation and also to assess the structural integrity of a cracked pressure vessel.展开更多
基金the National High Technology Research and Development Program(863) of China(No.2009AAA042221)Shanghai Sciences&Technology Committee(No.11111100302)
文摘An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.
基金financial support of the Serbian Ministry of Science,project TR 35011
文摘Welded joint is a critical region of a welded structure.The operational safety of welded pressure equipment mostly depends on the behaviour of loaded weldments.Safety of welded structure is dependent on the properties of welded joint as whole and of its constituents (parent metal,heat affected zone and weld metal).In this paper the behaviour of welded joint cracked constituents is considered.Structural integrity assessment procedure is applied to welded pressure vessel produced of high-strength low-alloyed steel,operating at-40°C,comparing crack driving force and material crack resistance,using path-independent contour J-integral as fracture mechanics parameter.The comparison of crack driving force,expressed by J-integral and material resistant curve,J-R curve,provide the possibility to determine the extent of the stable crack as well as the critical crack size for its final fast propagation and also to assess the structural integrity of a cracked pressure vessel.
