CREATION OF AN ADAPTIVE ROBOTIC ARC SURFACING SYSTEM, DESIGNED TO RESTORE COMPLEX SPATIAL FORMS METAL PARTS

V.V. Dolinenko, E.V. Shapovalov, V.A. Kolyada, Т.G. Skuba

Èlektron. model. 2020, 42(6):56-71
https://doi.org/10.15407/emodel.42.06.056

ABSTRACT

The adaptive robotic system creation concept of difficult spatial forms metal parts restoration in which technology of an electric arc surfacing is used is offered. Arc surfacing implementation on the basis of industrial robots equipped with means of adaptation can significantly improve the quality and productivity of parts restoration while reducing the cost of energy and welding materials. The paper uses both theoretical research methods — analysis, idealization and formalization, and experimental — simulation. The solution of the repair CAD workpiece model identification problem and the installation adaptation implementation are considered. The robotic system adaptive capabilities are realized with the help of non-contact means of technical vision a triangulation laser-television sensor. The work results can be used in the areas of adaptive robotic restoration creation by electric arc surfacing in the engineering, railway and energy industries.

KEYWORDS

metal parts restoration of complex spatial forms, electric arc surfacing, robot manipulator, triangulation laser-television sensor, installation adaptation, CAD workpiece model.

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