Abstract
A robotic wire and arc additive manufacturing (WAAM) system with active vision sensing capability was implemented to improve the geometry accuracy of multi-layer multi-bead structures. Width and height of the deposited bead were online detected and the accuracies of the designed sensing approaches are 0.25 mm and 0.1 mm, respectively. A double-input-double-output controller with two subsystems was designed to ensure the uniformity of bead width and bead height. The bead width was adjusted by a single neuron self-learning PI controller, while the bead height was controlled based on a rule-based engine. The experimental results indicated that (i) accuracy of the deposited bead width is controlled in 0.5 mm, (ii) accumulation effect of the bead height deviations has disappeared when multiple layers are overlapped, and (iii) the surface finish of each layer was controlled to be flat as well.
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Acknowledgement
The authors would like to thank Prof. Hongming GAO for his support on the implementation of the robotic WAAM system and Mr. Dongqing YANG for his technical assistant. This work was supported by National Natural Science Foundation of China, No. 51575133.
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Han, Q., Li, Y., Zhang, G. (2018). Online Control of Deposited Geometry of Multi-layer Multi-bead Structure for Wire and Arc Additive Manufacturing. In: Chen, S., Zhang, Y., Feng, Z. (eds) Transactions on Intelligent Welding Manufacturing. Transactions on Intelligent Welding Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-10-5355-9_7
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DOI: https://doi.org/10.1007/978-981-10-5355-9_7
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