Papers by Author: Wei Zhu

Abstract: This paper represents the design of a robot end effector which is supposed to be a tool of measuring the orientation accuracy and repeatability. The motivations and ideas of this testing tool are stated, firstly. Then, its structure parameters are specified and the testing accuracy is computed by mean of analyzing the manufacturing errors and structure stiffness which are measured and simulated by Carl Zeiss CMM and Abaqus, respectively. Moreover, the orientation accuracy and repeatability of Kunshan No.1 and KUKA L16 are tested in terms of ISO 9283 standard using this testing tool and API Tracker3. Finally, the results are analyzed and compared which show that the design of this testing end effector is competent with a high cost-effective ratio.

Abstract: He sensing of the weld pool and controlling of torch at the center of the groove are important problems in back welding of GMAW (Gas Metal Arc Welding) for pipeline, furthermore, the gap of the groove perhaps is varied, which needs an intelligent control strategy to obtain the high welding quality. Fuzzy neural network control method based on BP algorithm is proposed in this paper, from the module of image processing, the corresponding gap location and width can be obtained. Then determine corresponding swing width and speed when weld gap is varied by the network fuzzy inference and calculating Euclidean distance for GMAW variable gap backing welding process. Experiment results show that the designed control method can improve the welding quality compared with traditional fixed swing and the traditional auto swing.