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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年第10卷第1期页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking welding robotic manipulator adaptive control sliding mode control

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年第10卷第2期页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators robotic arm

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面向机器人微创手术的新型遥控柔性机器人 Article

李峥, Jan Feiling, 任洪亮, Haoyong Yu

《工程（英文）》 2015年第1卷第1期页码 73-78 doi: 10.15302/J-ENG-2015011

摘要：

本文介绍了基于约束型蛇形拉线机构（CTSM）的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比，基于CTSM的机器人具有更大的工作空间，更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控，包括两种操作模式——直接映射模式和增量模式。在每一种模式下，该机器人都可以采用“最大刚度”方案或“最小运动”方案来操控。CTSM的以上优点在仿真模拟和实验中均得以验证。

关键词：外科手术机器人柔性机械臂拉线机构机器人微创手术

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ARC welding method for bonding steel with aluminum

Zhenyang LU, Pengfei HUANG, Wenning GAO, Yan LI, Hanpeng ZHANG, Shuyan YIN

《机械工程前沿（英文）》 2009年第4卷第2期页码 134-146 doi: 10.1007/s11465-009-0033-x

摘要： When welding steel with aluminum, the appearance of intermetallic compounds of Fe and Al will decrease tenacity and increase rigidity, which leads to bad joint performance. A new type of low energy input (LEI) welding technology is introduced which can be used to weld steel with aluminum. Using the technology, brazing was located on the steel side and arc fusion welding on the aluminum side. The less heat input reduces the thickness of intermetallic compounds to 3-4 μm. Tensile strength tests prove that the joint breaks at the heat-affected zone and the strength is higher than 70% of the aluminum’s. Thus, the method can lead to a good performance joint.

关键词： joining of steel and aluminum low energy input welding arc welding fusion welding – brazing

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

《机械工程前沿（英文）》 2021年第16卷第3期页码 435-450 doi: 10.1007/s11465-021-0630-x

摘要： Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configu-ration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

《机械工程前沿（英文）》 2021年第16卷第4期页码 698-710 doi: 10.1007/s11465-021-0646-2

摘要： The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll–pitch–yaw spherical wrist. A hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1R PRRR-1S PU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “R PRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

关键词： hydraulic manipulator inverse kinematic redundant design spherical wrist

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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

《机械工程前沿（英文）》 2011年第6卷第2期页码 219-228 doi: 10.1007/s11465-011-0218-y

摘要：

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are carried out and results are discussed. Hence, advantages and disadvantages of each method are illustrated. Then, adding the joint flexibility to the system is dealt with and the obtained model is demonstrated. Finally, a brief description of the optimal motion generation is presented and the simulation is carried out to investigate the role of robot dynamic modeling in the control of robots.

关键词： robotic arms elastic link elastic joint nonlinear dynamics optimal control

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Study of mechanism of activating flux increasing weld penetration of AC A-TIG welding for aluminum alloy

HUANG Yong, FAN Ding, FAN Qinghua

《机械工程前沿（英文）》 2007年第2卷第4期页码 442-447 doi: 10.1007/s11465-007-0076-9

摘要： When multi-component flux AF305 is used as surface activating flux for an aluminum alloy, the weld pene tration of activating flux-tungsten inert-gas (A-TIG) welding is over two times more than that of conventional TIG welding. Using A-TIG welding with the modes of alternating current (AC), direct current electrode negative (DCEN) and direct current electrode positive (DCEP), respectively, the flux differently affects weld penetration when the polarity is different. After studied the effect of compelled arc con striction on weld penetration of AC welding, it is believed that the constriction of the whole arc root is not the main mechanism that flux AF305 dramatically improves weld penetration. The penetration has a relationship with the separate distribution of slag on the weld surface. Then, an observation of scanning electron microscopy (SEM) and an electronic data systems (EDS) analysis of slag were performed respectively. The separate distribution of slag on the weld pool during welding and the great constriction of arc spots were confirmed by TIG welding with helium shielding gas. The relationship between slag distribution and weld penetration was studied by adding aluminum powder into flux AF305 to change the distribution of slag. During welding, the separate distribution of slag on the weld pool results in the great constriction of arc spots, an increase in arc spot force, and an increase in Lorentz force within the arc and weld pool. Finally, the weld penetration is increased.

关键词： A-TIG welding surface DCEN electrode negative increase

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基于DBN模型的激光焊接状态在线监控研究 Article

张艳喜, 游德勇, 高向东, Seiji Katayama

《工程（英文）》 2019年第5卷第4期页码 671-678 doi: 10.1016/j.eng.2019.01.016

摘要：

本文开发了集辅助激光成像系统、紫外/可见波段视觉成像系统（波长小于780 nm）、光谱测量仪、光电传感器的多传感器系统，用以观察和分析激光焊接过程中的焊接状态信息。本文采用小波包分解方法对通过光电传感器获得的可见光波段传感信号和激光反射传感信号进行分解并提取相关特征。光谱仪采集到的信号的主要波长为400~900 nm，将其分为25个子带并采用统计方法来提取光谱信号特征。利用紫外/可见波段视觉成像系统采集的图像获取金属蒸气和飞溅的特征，而辅助照明视觉传感器系统主要是用来采集匙孔特征。本文基于上述焊接过程的实时量化特征建立了焊接状态监测的深度信念网络（DBN），并采用遗传算法对所提出的DBN模型参数进行优化。与传统的反向传播神经网络（BPNN）模型相比，本文建立的DBN模型在焊接状态监测方面具有更高的精度和鲁棒性。最后，本文通过三个附加焊接试验验证了该方法在激光焊接状态监控中的有效性和泛化能力。

关键词：在线监控多传感小波包分解深信度网络

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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年第7卷第1期页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam two robots coordinated welding motion planning

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Review on electromagnetic welding of dissimilar materials

K. SHANTHALA,T. N. SREENIVASA

《机械工程前沿（英文）》 2016年第11卷第4期页码 363-373 doi: 10.1007/s11465-016-0375-0

摘要：

Electromagnetic welding (EMW) is a high-speed joining technique that is used to join similar or dissimilar metals, as well as metals to non-metals. This technique uses electromagnetic force to mainly join conductive materials. Unlike conventional joining processes, the weld interface does not melt, thus keeping the material properties intact. Extremely high velocity and strain rate involved in the process facilitate extending the EMW technique for joining several materials. In this paper, the research and progress in electromagnetic welding are reviewed from various perspectives to provide a basis for further research.

关键词： electromagnetic welding impact dissimilar materials

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Structure and performance of welding joint of Q235 steel welded by SHS welding

Junzhi HU, Sumei WANG, Xiaoli ZHAO, Shilin ZHU, Botao YU,

《机械工程前沿（英文）》 2010年第5卷第2期页码 189-193 doi: 10.1007/s11465-010-0003-3

摘要： A self-propagating high-temperature synthesis (SHS) welding-pen that can weld steel workpiece from 6 to 10 mm is developed and welds the Q235 steel. The structure and properties of the welding joint are studied. The result indicates that this type of welding is melting and the fusion zone is clear. The tensile-strength of the welding joint is 283 MPa, flexural strength is 628 MPa, impact toughness is 46.43 J·cm, and the microhardness of the welding joint and fusion zone are 230 HV and 255.6€HV, respectively. The mircohardness of the fusion zone and the welding line are higher than that of the matrix.

关键词： self-propagating high-temperature synthesis (SHS) welding welding line structure and performance melting

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Processing parameter optimization of fiber laser beam welding using an ensemble of metamodels and MOABC

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0703-5

摘要： In fiber laser beam welding (LBW), the selection of optimal processing parameters is challenging and plays a key role in improving the bead geometry and welding quality. This study proposes a multi-objective optimization framework by combining an ensemble of metamodels (EMs) with the multi-objective artificial bee colony algorithm (MOABC) to identify the optimal welding parameters. An inverse proportional weighting method that considers the leave-one-out prediction error is presented to construct EM, which incorporates the competitive strengths of three metamodels. EM constructs the correlation between processing parameters (laser power, welding speed, and distance defocus) and bead geometries (bead width, depth of penetration, neck width, and neck depth) with average errors of 10.95%, 7.04%, 7.63%, and 8.62%, respectively. On the basis of EM, MOABC is employed to approximate the Pareto front, and verification experiments show that the relative errors are less than 14.67%. Furthermore, the main effect and the interaction effect of processing parameters on bead geometries are studied. Results demonstrate that the proposed EM-MOABC is effective in guiding actual fiber LBW applications.

关键词： laser beam welding parameter optimization metamodel multi-objective

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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

《机械工程前沿（英文）》 2012年第7卷第2期页码 109-119 doi: 10.1007/s11465-012-0323-6

摘要：

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

关键词： working capacity multi-DOF manipulator capacity polytope excavating mechanism

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轻量化材料焊接车间智能化要素分析

周安亮,王德成

《中国工程科学》 2017年第19卷第5期页码 103-108 doi: 10.15302/J-SSCAE-2017.05.018

摘要：

本文从轻量化材料焊接最终目标和需求、数字化和智能化技术发展趋势、焊接车间柔性构建三个维度出发，结合先进制造车间智能化和焊接工艺数字化技术发展趋势，分析得出了轻量化材料焊接车间智能化需满足的焊接控制管理实时化、焊接过程质量控制闭环化、焊接性分析数据化、焊接工艺分析智能化、快速互换装夹（柔性化）、焊缝质量检测工具化、焊接生产管理数字化、焊接基础数据库无纸化八大基本要素，并对这些要素分别进行了阐述，相关结论可以作为焊接车间智能化改造或新建的参考。

关键词：焊接工艺焊接车间智能化轻量化材料战略研究