Serial robotic plasma additive manufacturing on complex NURBS surface

doi:10.1108/IR-04-2022-0097

	Serial robotic plasma additive manufacturing on complex NURBS surface
	Wang, Zhaoqin 1,2; Shi, Yu 1,3; Wang, Xiaorong 2,4
刊名	INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
	2022-09-01
关键词	NURBS function mapping NURBS surface Trajectory planning Additive manufacturing Serial robot
ISSN号	0143-991X
DOI	10.1108/IR-04-2022-0097
英文摘要	Purpose This paper aims to investigate the additive manufacturing (AM) approach of a spatial complex curve feature (SCCF, mapped from two-dimensional nonuniform rational B-splines [2D-NURBS] curve) on a complex surface based on a serial robot using plasma built-up welding, and lays a foundation for plasma AM SCCFs on complex surfaces by combining the NURBS theory with the serial robotic kinematics. Design/methodology/approach Combining serial robotic kinematics and NURBS theory, a SCCF mapped from a square-like 2D-NURBS curve is prepared on a predefined complex NURBS surface using serial robotic plasma AM. The interpolation points C (ui) on the square-like 2D-NURBS curve are obtained using the equi-chord length interpolation method, and mapped on a predefined NURBS surface to get mapped points S (ui, vj). The homogeneous transformation matrix T = [n o a S (ui, vj)] of the plasma torch is calculated using the mapped points S (ui, vj) and the designated posture [n o a]. Using the inverse kinematics of the serial robot, the joint vector theta of the serial robot can be computed. After that, the AM programs are generated and transferred into the serial robotic controller and carried out by the serial robot of Motoman-UP6. The 2D-NURBS curve (square-like) is considered as AM trajectory planning curve, while its corresponding SCCF mapped from the 2D-NURBS curve as AM trajectory. Findings Simulation and experiments show that the preparation of SCCF (mapped from 2D-NURBS curve) on complex NURBS surface using robotic plasma AM is feasible and effective. Originality/value A SCCF mapped from a 2D-NURBS curve is prepared on a complex NURBS surface using the serial robotic plasma AM for the first time. It provides a theoretical and technical basis for plasma AM to produce SCCFs on complex surfaces. With the increasing demand for surface remanufacturing of complex parts, the serial robotic plasma AM of SCCFs on complex NURBS surfaces has a broad application prospect in aero-engine components, high-speed rail power components, nuclear industry components and complex molds.
WOS研究方向	Engineering ; Robotics
语种	英语
出版者	EMERALD GROUP PUBLISHING LTD
WOS记录号	WOS:000851556500001
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/159820]
专题	材料科学与工程学院
作者单位	1.Lanzhou Univ Technol, State Key Lab Adv Proc & Recycling Nonferrous Met, Lanzhou, Peoples R China; 2.Lanzhou Jiaotong Univ, Key Lab Syst Dynam & Reliabil Rail Transport Equi, Lanzhou, Peoples R China; 3.Lanzhou Univ Technol, Sch Mat Sci & Engn, Lanzhou, Peoples R China; 4.Lanzhou Jiaotong Univ, Sch Mechatron Engn, Lanzhou, Peoples R China
推荐引用方式 GB/T 7714	Wang, Zhaoqin,Shi, Yu,Wang, Xiaorong. Serial robotic plasma additive manufacturing on complex NURBS surface[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,2022.
APA	Wang, Zhaoqin,Shi, Yu,&Wang, Xiaorong.(2022).Serial robotic plasma additive manufacturing on complex NURBS surface.INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION.
MLA	Wang, Zhaoqin,et al."Serial robotic plasma additive manufacturing on complex NURBS surface".INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2022).