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1

Robotic welding on tube nodes

Keitel S., Mückenheim U., Wolski U., Lotz S., Müglitz J., Sigmund T.

Biuletyn Instytutu Spawalnictwa w Gliwicach

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2018

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Vol. 62, No. 5

35--41

EN

Hollow-profile structures are significantly more stable than structures made using open pro-files, which is the main reason for their use in truss and truss-like structures. The node inter-sections of such structures requires three-dimensional curved welded joints. Small and medium-sized enterprises usually weld tubular frame and truss structures manually, which is highly time-consuming and cost-intensive. In addition, this method requires person-nel with corresponding qualifications to carry out the work as the welders need to adapt to constantly changing conditions in weld preparation and welding position, which obviously requires intensive training. Replacing this manual activity by mechanised welding processes would provide great relief to welders.

PL

Konstrukcje inżynierskie wykonane z kształtowników o przekroju zamkniętym wykazują znacznie większą stabilność niż konstrukcje wytworzone z profili otwartych. Węzły konstrukcyjne tego rodzaju ustrojów wymagają połączeń spawanych o krzywoliniowej trajektorii usytuowanej w przestrzeni. Spawanie ram i kratownic z profili o przekroju zamkniętym wytwarzanych w małych i średnich przedsiębiorstwach prowadzone jest zazwyczaj w trybie ręcznym, co jest bardzo czasochłonne i kosztowne. Wymaga też personelu o odpowiednich kwalifikacjach. Spawacze muszą dostosowywać się do stale zmieniających się warunków zarówno w odniesieniu do przygotowania złączy, jak i pozycji spawania. Wymaga to intensywnego szkolenia. Zastąpienie zatem spawania ręcznego procesem zmechanizowanym odciążyłoby spawaczy w sposób znaczący.

2

The use of personal computer as autonomous communication system between two robot sets

Jarocki J.

Zeszyty Naukowe. Elektryka / Politechnika Opolska

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2014

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z. 70

37-38

EN

This paper describes solution for communicate two or more robot systems without communication set by use of Ethernet connection with personal computer and local network.

3

Automatisiertes Regenerieren von grossen Tiefziehwerkzeugen

Wilden J., Bergmann J. P.

Przegląd Spawalnictwa

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2011

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R. 83, nr 9

58-63

PL

Przeanalizowano problematykę napawania narzędzi do głębokiego tłoczenia. Przedstawiono koncepcję zrobotyzowanego mobilnego stanowiska do napawania z systemem analizy obrazu. Podano przykład zastosowania opracowanego systemu do napawania plazmowego narzędzi, w tym także w pozycjach przymusowych.

EN

The problems of surfacing by welding of deep drawing tools are analyzed. The concept of a station of surfacing by welding with robot and image analysis system is presented. An example of developed system for plasma surfacing by welding of tools, including the forced positions is shown.

4

Reducing simulation time of robot systems

Szkodny T.

Systems Science

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2004

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Vol. 30, no 2

119-127

EN

In this work, simplification methods of robot models for reducing simulation time are proposed. Reducing simulation time by means of increasing a discrete time step is proposed. The evaluation of both simplifications of robot models and increasing the discrete time step are presented. For AS robot and experimental robot these methods are applied. The graphic models of these robots, created in Simulink are proposed. The Simulink gives a possibility of easy modeling of complex dynamic systems. These robots possess manipulation, drive and control systems. The results of simulation of robot movements by means of non-simplified models are presented. The required exemplary trajectories, described by motor angles, have been investigated. A method of the choice of a discrete lime step for simulation by means of non-simplified robot models, with the fixed value of this step, is presented. Next, results of simulation of robot movements by means of simplified models and increased discrete time step were presented. Simulation errors caused by simplifications of robot models and increasing discrete time step were evaluated. Times of simulation by means of the simplified robot models and increased discrete time step were compared to times of simulation by means of non-simplified robot models and non-increased discrete time step. The times of simulations by means of simplified robot models and increased discrete time step were compared to simulated times.