Instrumented fixtures for on-line correction of welding paths

摘要

Robotic welding of thin-walled aluminium structures is very sensitive to deviations in parts' positions. Position deviations give inferior weld quality. Measurement devices integrated in the clamping elements of the welding fixture can provide data to the welding robot for dynamic correction of the welding path. The paper describes a system of integrated measurement in clamping systems. Various approaches to measurement of critical dimension deviations are evaluated and optimal solutions have been selected. The obtainable accuracy is analyzed and verified through laboratory tests. A microcontroller-based control system has been developed to process and transmit the measurement data to the robot controller.