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简介：Tandemgasmetalarcwelding(T-GMAW)processshowsahighdepositionratethatuptothreetimesofthesingleelectrodeGMAW,sotheweldingspeedcouldbesignificantlyincreasedinthisprocess.However,themajorityofthisprocessapplicationsarebasedonthepre-programmedroboticwelding,whichdoesnotallowthemtotracktheseamreal-timeduringwelding.Rotatingarcsensor,sensingtheseampositionbydetectingthechangingofweldingcurrents,hasbeenwidelyadoptedintheautomaticrobotweldingprocess.Itisproposedinthispapertointegratetherotatingarcsensorwithatrailingtorchtodevelopanewapproachofrotatingarcleadtandemgasmetalarcwelding(RLT-GMAW)process.Thecharacteristicsoftheweldingcurrentsintheproposednewweldingprocesswerefirstlystudied,andthenaself-turningfuzzycontrolseamtrackingstrategywasdevelopedforthemobilerobotautomaticwelding.TheexperimentalresultsshowedthattheproposedRLT-GMAWprocesshadanexcellentseamtrackingperformanceandhighweldingdepositionrate.Evenifthereweresomeelectromagneticinteractionsbetweenthetwoarcs,thedeviationoftheweldingseamcouldalsobereflectedbythefluctuationoftheweldingcurrentsontheleadingarconcethecorrectweldingparameterswereselected.Basedonthedetecteddeviation,theweldingtrackingexperimentsshowedthattheproposedself-turningfuzzycontrollerhadagoodperformancefortheRLT-GMAWprocessseamtracking.

简介：Theeffectofweldingcurrentontheweldshapeandtensileshearloadduringlaserbeam-resistanceseamwelding(LB-RSW)ofaluminumalloy5052isstudied.Experimentalresultsshowthatthepenetrationdepth,weldwidth,tensileshearloadandtheratioofpenetrationdepthtoweldwidthofLB-RSWarebiggerthanthoseoflaserbeamwelding(LBW)underthesameconditionsandtheformerthreeparametersincreaseasweldingcurrentrises.TheweldshapeofLB-RSWbelow5kAweldingcurrentisnearlythesameasthatofLBW.Theweldmorphologyisprotuberantundertheconditionof5kAweldingcurrentand0.8m/minweldingspeed.Furthermore,themicrostructureoftheweldseamofLB-RSWiscoarserthanthatofLBW.

简介：Manualmonitoringandseamtrackingthroughwatchingweldpoolimagesinreal-time,bynakedeyesorbyindustrialTV,areexperience-depended,subjective,laborintensive,andsometimesbiased.Soitisnecessarytorealizetheautomationofcomputer-aidedseamtracking.APAW(plasmaarcwelding)seamtrackingsystemwasdeveloped,whichsensesthemoltenpoolandtheseaminoneframebyavisionsensor,andthendetectstheseamdeviationtoadjusttheworkpiecemotionadaptivelytotheseampositionsensedbyvisionsensor.Anovelmoltenpoolareaimage-processingalgorithmbasedonmachinevisionwasproposed.Thealgorithmprocesseseachimageatthespeedof20frames/secondinreal-timetoextractthreefeaturevariablestogettheseamdeviation.Itisprovedexperimentallythatthealgorithmisveryfastandeffective.Issuesrelatedtothealgorithmarealsodiscussed.