Journal articles: 'Robotic WAAM'

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Chen , Heping, Ahmed Yaseer, and Yuming Zhang . "Top Surface Roughness Modeling for Robotic Wire Arc Additive Manufacturing." Journal of Manufacturing and Materials Processing 6, no. 2 (March 21, 2022): 39. http://dx.doi.org/10.3390/jmmp6020039.

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Wire Arc Additive Manufacturing (WAAM) has many applications in fabricating complex metal parts. However, controlling surface roughness is very challenging in WAAM processes. Typically, machining methods are applied to reduce the surface roughness after a part is fabricated, which is costly and ineffective. Therefore, controlling the WAAM process parameters to achieve better surface roughness is important. This paper proposes a machine learning method based on Gaussian Process Regression to construct a model between the WAAM process parameters and top surface roughness. In order to measure the top surface roughness of a manufactured part, a 3D laser measurement system is developed. The experimental datasets are collected and then divided into training and testing datasets. A top surface roughness model is then constructed using the training datasets and verified using the testing datasets. Experimental results demonstrate that the proposed method achieves less than 50 μm accuracy in surface roughness prediction.

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Parmar, Khushal, Lukas Oster, Samuel Mann, Rahul Sharma, Uwe Reisgen, Markus Schmitz, Thomas Nowicki, Jan Wiartalla, Mathias Hüsing, and Burkhard Corves. "Development of a Multidirectional Wire Arc Additive Manufacturing (WAAM) Process with Pure Object Manipulation: Process Introduction and First Prototypes." Journal of Manufacturing and Materials Processing 5, no. 4 (December 10, 2021): 134. http://dx.doi.org/10.3390/jmmp5040134.

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Wire Arc Additive Manufacturing (WAAM) with eccentric wire feed requires defined operating conditions due to the possibility of varying shapes of the deposited and solidified material depending on the welding torch orientation. In consequence, the produced component can contain significant errors because single bead geometrical errors are cumulatively added to the next layer during a building process. In order to minimise such inaccuracies caused by torch manipulation, this article illustrates the concept and testing of object-manipulated WAAM by incorporating robotic and welding technologies. As the first step towards this target, robotic hardware and software interfaces were developed to control the robot. Alongside, a fixture for holding the substrate plate was designed and fabricated. After establishing the robotic setup, in order to complete the whole WAAM process setup, a Gas Metal Arc Welding (GMAW) process was built and integrated into the system. Later, an experimental plan was prepared to perform single and multilayer welding experiments as well as for different trajectories. According to this plan, several welding experiments were performed to decide the parametric working range for the further WAAM experiments. In the end, the results of the first multilayer depositions over intricate trajectories are shown. Further performance and quality optimization strategies are also discussed at the end of this article.

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Bellamkonda, Prasanna Nagasai, Malarvizhi Sudersanan, and Balasubramanian Visvalingam. "Characterisation of a wire arc additive manufactured 308L stainless steel cylindrical component." Materials Testing 64, no. 10 (October 1, 2022): 1397–409. http://dx.doi.org/10.1515/mt-2022-0171.

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Abstract Wire arc additive manufacturing (WAAM) is an additive manufacturing (AM) technology that uses a modified robotic welding machine to manufacture parts in a layer-by-layer pattern. In the current study, a 308L stainless steel (SS) cylindrical component was manufactured by WAAM technique using gas metal arc welding (GMAW) process. The mechanical and microstructural characteristics of the deposited WAAM 308L SS cylinder were investigated. The microhardness of the WAAM SS cylinder varied slightly along the building direction. The lower zone of the cylinder showed higher hardness than the middle and upper zones. The tensile strength (TS), yield strength (YS) and elongation (EL) of the WAAM 308L cylinder are 331–356 MPa, 535–582 MPa, and 44–51% in the longitudinal, transverse and diagonal orientations, respectively. The microstructure of the WAAM SS cylinder is characterized by austenite dendrites that grow vertically and residual ferrite that exists within the austenite matrix. The results show that the properties of 308L SS cylinder produced by the GMAW-WAAM technique is matching with wrought 308L SS alloy (YS: 360–480 MPa, UTS: 530–650 MPa and EL: 35–45%). Therefore, the GMAW-WAAM 308L SS technique is found to be suitable for industrial use to manufacture stainless steel components.

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Dugar, Jaka, Awais Ikram, Damjan Klobčar, and Franci Pušavec. "Sustainable Hybrid Manufacturing of AlSi5 Alloy Turbine Blade Prototype by Robotic Direct Energy Layered Deposition and Subsequent Milling: An Alternative to Selective Laser Melting?" Materials 15, no. 23 (December 3, 2022): 8631. http://dx.doi.org/10.3390/ma15238631.

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Additive technologies enable the flexible production through scalable layer-by-layer fabrication of simple to intricate geometries. The existing 3D-printing technologies that use powders are often slow with controlling parameters that are difficult to optimize, restricted product sizes, and are relatively expensive (in terms of feedstock and processing). This paper presents the development of an alternative approach consisting of a CAD/CAM + combined wire arc additive-manufacturing (WAAM) hybrid process utilizing the robotic MIG-based weld surfacing and milling of the AlSi5 aluminum alloy, which achieves sustainably high productivity via structural alloys. The feasibility of this hybrid approach was analyzed on a representative turbine blade piece. SprutCAM suite was utilized to identify the hybrid-manufacturing parameters and virtually simulate the processes. This research provides comprehensive experimental data on the optimization of cold metal transfer (CMT)–WAAM parameters such as the welding speed, current/voltage, wire feed rate, wall thickness, torch inclination angle (shift/tilt comparison), and deposit height. The multi-axes tool orientation and robotic milling strategies, i.e., (a) the side surface from rotational one-way bottom-up and (b) the top surface in a rectangular orientation, were tested in virtual CAM environments and then adopted during the prototype fabrication to minimize the total fabrication time. The effect of several machining parameters and robotic stiffness (during WAAM + milling) were also investigated. The mean deviation for the test piece’s tolerance between the virtual processing and experimental fabrication was −0.76 mm (approx.) at a standard deviation of 0.22 mm assessed by 3D scanning. The surface roughness definition Sa in the final WAAM pass corresponds to 36 µm, which was lowered to 14.3 µm after milling, thus demonstrating a 55% improvement through the robotic comminution. The tensile testing at 0° and 90° orientations reported fracture strengths of 159 and 161.3 MPa, respectively, while the yield stress and reduced longitudinal (0°) elongations implied marginally better toughness along the WAAM deposition axes. The process sustainability factors of hybrid production were compared with Selective Laser Melting (SLM) in terms of the part size freedom, processing costs, and fabrication time with respect to tight design tolerances. The results deduced that this alternative hybrid-processing approach enables an economically viable, resource/energy feasible, and time-efficient method for the production of complex parts in contrast to the conventional additive technologies, i.e., SLM.

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Kloft, Harald, Linus Paul Schmitz, Christoph Müller, Vittoria Laghi, Neira Babovic, and Abtin Baghdadi. "Experimental Application of Robotic Wire-and-Arc Additive Manufacturing Technique for Strengthening the I-Beam Profiles." Buildings 13, no. 2 (January 28, 2023): 366. http://dx.doi.org/10.3390/buildings13020366.

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In recent years, the use of Wire-and-Arc Additive Manufacturing (WAAM) for strengthening standardized steel elements received significant interest within the research community. The reason for this lies in the theoretical potential of WAAM to improve the economic and environmental aspects of contemporary steel construction through efficient material consumption. As efficiency is often obtained through detailed design study, the paper presents a design exploration of suitable stiffener geometries under the assumption of infinite geometrical freedom. The assumption is eventually invalidated as process constraints specific to the generated geometries emerge from test trials. Once identified, process constraints are documented and overcome through adequate and precise path planning. Feasibility analysis is an important step between design and fabrication, especially in the case of large-scale or geometrically complex components. With reference to the case of stiffeners, a feasibility analysis is necessary to take into account the specific geometrical limits of the build volume, which is not typically the case for conventional WAAM fabrication. The current research provides the first investigation to understand the means for future on-site WAAM strengthening of existing steel structural elements.

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Zimermann, Rastislav, Ehsan Mohseni, Momchil Vasilev, Charalampos Loukas, Randika K. W. Vithanage, Charles N. Macleod, David Lines, et al. "Collaborative Robotic Wire + Arc Additive Manufacture and Sensor-Enabled In-Process Ultrasonic Non-Destructive Evaluation." Sensors 22, no. 11 (May 31, 2022): 4203. http://dx.doi.org/10.3390/s22114203.

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The demand for cost-efficient manufacturing of complex metal components has driven research for metal Additive Manufacturing (AM) such as Wire + Arc Additive Manufacturing (WAAM). WAAM enables automated, time- and material-efficient manufacturing of metal parts. To strengthen these benefits, the demand for robotically deployed in-process Non-Destructive Evaluation (NDE) has risen, aiming to replace current manually deployed inspection techniques after completion of the part. This work presents a synchronized multi-robot WAAM and NDE cell aiming to achieve (1) defect detection in-process, (2) enable possible in-process repair and (3) prevent costly scrappage or rework of completed defective builds. The deployment of the NDE during a deposition process is achieved through real-time position control of robots based on sensor input. A novel high-temperature capable, dry-coupled phased array ultrasound transducer (PAUT) roller-probe device is used for the NDE inspection. The dry-coupled sensor is tailored for coupling with an as-built high-temperature WAAM surface at an applied force and speed. The demonstration of the novel ultrasound in-process defect detection approach, presented in this paper, was performed on a titanium WAAM straight sample containing an intentionally embedded tungsten tube reflectors with an internal diameter of 1.0 mm. The ultrasound data were acquired after a pre-specified layer, in-process, employing the Full Matrix Capture (FMC) technique for subsequent post-processing using the adaptive Total Focusing Method (TFM) imaging algorithm assisted by a surface reconstruction algorithm based on the Synthetic Aperture Focusing Technique (SAFT). The presented results show a sufficient signal-to-noise ratio. Therefore, a potential for early defect detection is achieved, directly strengthening the benefits of the AM process by enabling a possible in-process repair.

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Suat, Yildiz, Baris Koc, and Oguzhan Yilmaz. "Building strategy effect on mechanical properties of high strength low alloy steel in wire + arc additive manufacturing." Zavarivanje i zavarene konstrukcije 65, no. 3 (2020): 125–36. http://dx.doi.org/10.5937/zzk2003125s.

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Wire arc additive manufacturing (WAAM) which is literally based on continuously fed material deposition type of welding processes such as metal inert gas (MIG), tungsten inert gas (TIG) and plasma welding, is a variant of additive manufacturing technologies. WAAM steps forward with its high deposition rate and low equipment cost as compared to the powder feed and laser/electron beam heated processes among various additive manufacturing processes. In this work, sample parts made of low allow high strength steel (ER120S-G) was additively manufactured via WAAM method using robotic cold metal transfer technology (CMT). The process parameters and building strategies were investigated and correlated with the geometrical, metallurgical and mechanical properties on the produced wall geometries. The results obtained from the thin wall sample parts have showed that with increasing heat input, mechanical properties decreases, since higher heat accumulation and lower cooling rate increases the grain size. The tensile tests results have showed that casting steel (G24Mn6+QT2) mechanical properties which requires 500 MPa yield strength can be compared to with as build WAAM process having 640 MPa yield strength. Tensile strength were fulfilled for S690Q and yield strength is very close to the reference value.

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Derekar, Karan, Jonathan Lawrence, Geoff Melton, Adrian Addison, Xiang Zhang, and Lei Xu. "Influence of Interpass Temperature on Wire Arc Additive Manufacturing (WAAM) of Aluminium Alloy Components." MATEC Web of Conferences 269 (2019): 05001. http://dx.doi.org/10.1051/matecconf/201926905001.

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Wire arc additive manufacturing (WAAM) technique has revealed the potential of replacing existing aerospace industry parts manufactured by traditional manufacturing routes. The reduced mechanical properties compared to wrought products, the porosity formation, and solidification cracking are the prime constraints that are restricting wide-spread applications of WAAM products using aluminium alloys. An interpass temperature is less studied in robotic WAAM and is the vital aspect affecting the properties of a formed product. This paper highlights the effects of change in interpass temperature on porosity content and mechanical properties of WAAM parts prepared using DC pulsed GMAW process, with 5356 aluminium consumable wire. The samples prepared with different interpass temperatures were studied for the distribution of pores with the help of computed tomography radiography (CT radiography) technique. A WAAM sample produced with higher interpass temperature revealed 10.41% less porosity than the sample prepared with lower interpass temperature. The pores with size less than 0.15mm3 were contributing over 95% of the overall porosity content. Additionally, on a volumetric scale, small pores (<0.15mm3) in the higher interpass temperature sample contributed 81.47% of overall volume of pores whereas only 67.92% volume was occupied in lower interpass temperature sample with same sized pores. The different solidification rates believed to have influence on the hydrogen evolution mechanism. Tensile properties of higher interpass temperature sample were comparatively better than lower interpass temperature sample. For the deposition pattern used in this study, horizontal specimens were superior to vertical specimens in tensile properties.

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Rauch, Matthieu, Jean-Yves Hascoet, and Vincent Querard. "A Multiaxis Tool Path Generation Approach for Thin Wall Structures Made with WAAM." Journal of Manufacturing and Materials Processing 5, no. 4 (November 30, 2021): 128. http://dx.doi.org/10.3390/jmmp5040128.

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Wire Arc Additive Manufacturing (WAAM) has emerged over the last decade and is dedicated to the realization of high-dimensional parts in various metallic materials. The usual process implementation consists in associating a high-performance welding generator as heat source, a NC controlled 6 or 8 degrees (for example) of freedom robotic arm as motion system and welding wire as feedstock. WAAM toolpath generation methods, although process specific, can be based on similar approaches developed for other processes, such as machining, to integrate the process data into a consistent technical data environment. This paper proposes a generic multiaxis tool path generation approach for thin wall structures made with WAAM. At first, the current technological and scientific challenges associated to CAD/CAM/CNC data chains for WAAM applications are introduced. The focus is on process planning aspects such as non-planar non-parallel slicing approaches and part orientation into the working space, and these are integrated in the proposed method. The interest of variable torch orientation control for complex shapes is proposed, and then, a new intersection crossing tool path method based on Design For Additive Manufacturing considerations is detailed. Eventually, two industrial use cases are introduced to highlight the interest of this approach for realizing large components.

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Anikin, P. S., G. M. Shilo, R. A. Kulykovskyi, and D. E. Molochkov. "Automation control system of 3d printing robotic platform with implemented wire + arc welding technology." Electrical Engineering and Power Engineering, no. 4 (December 30, 2020): 35–48. http://dx.doi.org/10.15588/1607-6761-2020-4-4.

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Purpose. Development of the robotic platform automated control system architecture, development of the software control algorithm. Methodology. To implement the algorithm of the control program, computer modeling of thermal regimes in CAE systems is used. The basic parameters of the single layer printing technique were obtained by experimental use of the wire plus arc additive manufacturing (WAAM) technology. Findings. Requirements for manufacturability and printing quality of the manufactured parts were defined in the form of geometric dimensions, surface waviness, parameters of the desired microstructure state, residual stresses, maintaining of the optimal manufacturing speed. Based on the requirements of manufacturability analysis, an algorithm for the control program was developed. Robotic platform automated control system architecture with feedback device for the thermal mode control, parameters of the geometrical form of the manufactured part and weld pool were developed. Three -level hierarchical model, which gives an ability to consider in the process of 3D printing each level individually in terms of welding bead, layer and wall, was developed. The input data for the operation of the automated control system of the robotic platform using the technology of electric arc welding are determined. Basic geometrical parameters and the simple welding bead and the methods of overlapping of two or more beads were shown. Critical differences between ideal and real welding overlapping models were considered for necessity of taking into account whilst generating robot control software. Analysis of the possibilities for the CAE simulation of the three-dimensional printing using wire plus arc additive manufacturing technology is performed to determine the influence of the temperature parameters, mechanical loads, toolpath change, and based on the data obtained, it became possible to determine residual stresses and defects in manufactured parts. Originality. Robotic platform automated control system architecture with feedback device for the control of thermal mode, parameters of the geometrical form of the manufactured part and weld pool was developed. Three-level hierarchical model for the wire plus arc additive manufacturing (WAAM) technology was created. Software control algorithm which provides an opportunity to improve geometrical and mechanical properties of the manufactured parts was developed. Practical value. Development of an automated control system for 3D printing robotic platform with WAAM implemented technology, which will provide an opportunity for increase in the printing accuracy of the manufactured parts and will help to reduce manufacturing time.

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Agustinus Ananda, Priyantomo. "WAAM Application for EPC Company." MATEC Web of Conferences 269 (2019): 05002. http://dx.doi.org/10.1051/matecconf/201926905002.

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WAAM ( Wire + Arc Additive Manufacturing) is a process of adding material layer by layer in order to build a near net shape components. It shows a further promising future for fabricating large expensive metal components with complex geometry. Engineering Procurement and Construction (EPC) company as one of the industrial section which related with engineering design and products, wide range of material type, and shop based or site based manufacturing process have been dealing with conventional manufacturing and procurement process in order to fulfill its requirement for custom parts and items for the project completion purpose. During the conventional process, there is a risk during the transportation of the products from the manufacturing shop to then site project, this risk is even greater when the delivery time take part as one of the essential part which affect the project schedule. Wire Arc Additive Manufacturing process offering an alternative process to shorten the delivery time and process for a selected material and engineered items, with the consideration of essential variables which can affect the final products of WAAM process, such as : heat input, wire feed speed, travel speed, shielding gas, welding process and robotic system applied. In this paper, the possibilities of WAAM application in EPC company will be assessed, an in depth literature review of the various process which possible to applied, include the loss and benefit compared with conventional method will be presented. The main objective is to identify the current challenge and the prospect of WAAM application in EPC company.

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Xu, Bohao, Xiaodong Tan, Xizhi Gu, Donghong Ding, Yuelin Deng, Zhe Chen, and Jing Xu. "Shape-driven control of layer height in robotic wire and arc additive manufacturing." Rapid Prototyping Journal 25, no. 10 (November 11, 2019): 1637–46. http://dx.doi.org/10.1108/rpj-11-2018-0295.

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Purpose Once an uneven substrate is aligned, traditional control theories and methods can be used on it, so aligning is of great significance for the development of wire and arc additive manufacturing (WAAM). This paper aims to propose a shape-driven control method for aligning a substrate with slopes to expand the application of WAAM. Design/methodology/approach A substrate with slopes must be aligned by depositing weld beads with slopes. First, considering the large height differences of slopes, multi-layer deposition is needed, and the number of layer of weld beads must be ascertained. Second, the change in the deposition rate is controlled as a ramp function to generate weld beads with slopes. Third, the variation of the deposition rate must be fine-tuned to compensate for the deviation between the actual and theoretical layer heights at the deposition of each layer. Finally, the parameters of the ramp functions at the deposition of each layer are determined through an optimization method. Findings First, to model the response function of layer height to deposition rate, the experiments are conducted with the deposition rate jumping from 4 to 8 mm/s and from 8 to 4 mm/s. When the deposition rate jumps from 4 to 8 mm/s and from 8 to 4 mm/s, the difference in the height of each layer decreases as the number of layer increases. Second, the variation of the deposition rate can be fine-tuned based on the deviation between the measured and theoretical layer heights because the variation of the deposition rate is proportional to the layer height when the initial and end deposition rates are near 4 or 8 mm/s, respectively. Third, the experimental results demonstrate that the proposed method is effective for single-layer aligning and aligning a substrate with one or more slopes. Originality/value The proposed method can expand the application of WAAM to an uneven substrate with slopes and lays the foundation for aligning tasks focused on uneven substrates with more complex shapes.

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Li, Runsheng, Haiou Zhang, Fusheng Dai, Cheng Huang, and Guilan Wang. "End lateral extension path strategy for intersection in wire and arc additive manufactured 2319 aluminum alloy." Rapid Prototyping Journal 26, no. 2 (October 26, 2019): 360–69. http://dx.doi.org/10.1108/rpj-05-2019-0123.

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Purpose Large-scale aircraft parts usually with many frame features, which consist of intersections. Profile and tensile properties of junctions in wire and arc additive manufacturing (WAAM) are significantly affected by path strategies. The purpose of this paper is to propose a novel path strategy for intersections in WAAM and compare it with commonly used ones. Design/methodology/approach Three typical intersections including T crossing (TC), square crossing (SC) and arbitrary-angle crossing (AAC) were built up with two commonly used path strategies (parallel and oscillation) and a proposed method named end lateral extension (ELE) which extends the weld track along the crossed direction. A robotic system and cold metal transfer (CMT) process were used to deposit Al-6.3Cu (2319) alloy. The profile of the bead was scanned by laser vision sensor. Tightened ratio (r), inter-layer height increment (Δh) and deviation to the fitting plane (df) are calculated based on the point cloud. Tensile tests were done for all built intersections. Findings Comparison to the commonly used path strategies, the proposed ELE method eliminated the tightened defects at the intersection, achieved a more stable inter-layer height increment (Δh) and improved the profile quality with a lower deviation to the fitting plane (df). Tensile tests show that the proposed strategy has exhibited favorable tensile properties. Originality/value In this paper, a novel path strategy named ELE is proposed, which provides a new path choice for fabricating intersections by WAAM.

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Loukas, Charalampos, Momchil Vasilev, Rastislav Zimmerman, Randika K. W. Vithanage, Ehsan Mohseni, Charles N. MacLeod, David Lines, et al. "Transforming Industrial Manipulators via Kinesthetic Guidance for Automated Inspection of Complex Geometries." Sensors 23, no. 7 (April 5, 2023): 3757. http://dx.doi.org/10.3390/s23073757.

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The increased demand for cost-efficient manufacturing and metrology inspection solutions for complex-shaped components in High-Value Manufacturing (HVM) sectors requires increased production throughput and precision. This drives the integration of automated robotic solutions. However, the current manipulators utilizing traditional programming approaches demand specialized robotic programming knowledge and make it challenging to generate complex paths and adapt easily to unique specifications per component, resulting in an inflexible and cumbersome teaching process. Therefore, this body of work proposes a novel software system to realize kinesthetic guidance for path planning in real-time intervals at 250 Hz, utilizing an external off-the-shelf force–torque (FT) sensor. The proposed work is demonstrated on a 500 mm2 near-net-shaped Wire–Arc Additive Manufacturing (WAAM) complex component with embedded defects by teaching the inspection path for defect detection with a standard industrial robotic manipulator in a collaborative fashion and adaptively generating the kinematics resulting in the uniform coupling of ultrasound inspection. The utilized method proves superior in performance and speed, accelerating the programming time using online and offline approaches by an estimate of 88% to 98%. The proposed work is a unique development, retrofitting current industrial manipulators into collaborative entities, securing human job resources, and achieving flexible production.

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Ding, Donghong, Zengxi Pan, Dominic Cuiuri, and Huijun Li. "A multi-bead overlapping model for robotic wire and arc additive manufacturing (WAAM)." Robotics and Computer-Integrated Manufacturing 31 (February 2015): 101–10. http://dx.doi.org/10.1016/j.rcim.2014.08.008.

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Prajadhiana, Keval Priapratama, Yupiter HP Manurung, Alexander Bauer, and Mohamed Ackiel Mohamed. "Methodical procedure of virtual manufacturing for analysing WAAM distortion along with experimental verification." Journal of Applied Engineering Design and Simulation 1, no. 1 (September 21, 2021): 74–87. http://dx.doi.org/10.24191/jaeds.v1i1.31.

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This paper deals with a principal development of virtual manufacturing (VM) procedure to predict substrate distortion induced by Wire Arc Additive Manufacturing (WAAM) process. In this procedure, a hollow shape is designed in a thin-walled form made of stainless steel. The procedure starts with geometrical modelling of WAAM component consisting of twenty-five deposited layers with austenitic stainless-steel wire SS316L as feedstock and SS304 as substrate material. The hollow shape is modelled based on simplified rectangular mesh geometry with identical specimen dimensions during the experiment. Material model to be defined can be retrieved directly from a database or by conducting a basic experiment to obtain the evolution of material composition, characterized using Scanning Electron Microscopy (SEM) with Energy Dispersive X-ray (EDX) analysis, and generated using advanced modelling software JMATPRO for creating new properties including the flow curves. Further, a coupled thermomechanical solution is adopted, including phase-change phenomena defined in latent heat, whereby temperature history due to successive layer deposition is simulated by coupling the heat transfer and mechanical analysis. Transient thermal distribution is calibrated from an experiment obtained from thermocouple analysis at two reference measurement locations. New heat transfer coefficients are to be adjusted to reflect actual temperature change. As the following procedure prior to simulation execution, a sensitivity analysis was conducted to find the optimal number of elements or mesh size towards temperature distribution. The last procedure executes the thermomechanical numerical simulation and analysis the post-processing results. Based on all aspects in VM procedures and boundary conditions, WAAM distortion is verified using a robotic welding system equipped with a pulsed power source. The experimental substrate distortion is measured at various points before and after the process. It can be concluded based on the adjusted model and experimental verification that using nonlinear numerical computation, the prediction of substrate distortion with evolved material property of component yields far better result which has the relative error less than 11% in a comparison to database material which has 22%, almost doubled the inaccuracy.

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Chen, Changrong, Hua He, Jingxin Zhou, Guofu Lian, Xu Huang, and Meiyan Feng. "A profile transformation based recursive multi-bead overlapping model for robotic wire and arc additive manufacturing (WAAM)." Journal of Manufacturing Processes 84 (December 2022): 886–901. http://dx.doi.org/10.1016/j.jmapro.2022.10.042.

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Prajadhiama, Keval P., Yupiter HP Manurung, Zaidi Minggu, Fetisia HS Pengadau, Marcel Graf, Andre Haelsig, Tom-Eric Adams, and Hui Leng Choo. "Development of Bead Modelling for Distortion Analysis Induced by Wire Arc Additive Manufacturing using FEM and Experiment." MATEC Web of Conferences 269 (2019): 05003. http://dx.doi.org/10.1051/matecconf/201926905003.

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In this research, Wire Arc Additive Manufacturing is modelled and simulated to determine the most suitable bead modelling strategy. This analysis is aimed to predict distortion by means of thermomechanical Finite Element Method (FEM). The product model with wire as feedstock on plate as substrate and process simulation are designed in form of multi-layered beads and single string using MSC Marc/Mentat. This research begins with finding suitable WAAM parameters which takes into account the bead quality. This is done by using robotic welding system with 01.2mm filler wire (AWS A5.28 : ER80SNi1), shielding gas (80% Ar/ 20% CO2) and 6mm-thick low carbon steel as base plate. Further, modelling as well as simulation are to be conducted with regards to bead spreading of each layers. Two different geometrical modelling regarding the weld bead are modelled which are arc and rectangular shape. Equivalent material properties from database and previous researches are implemented into simulation to ensure a realistic resemblance. It is shown that bead modelling with rectangular shape exhibits faster computational time with less error percentage on distortion result compared to arc shape. Moreover, by using the rectangular shape, the element and meshing are much easier to be designed rather than arc shape bead.

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Kaszuba, Marcin D., Paweł Widomski, Tomasz Kiełczawa, and Zbigniew Gronostajski. "The use of a measuring arm with a laser scanner for analysis and support of regenerative surfacing processes of forging dies." Welding Technology Review 92, no. 3 (April 11, 2020): 23–32. http://dx.doi.org/10.26628/wtr.v92i3.1103.

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The article presents the results of research conducted in order to develop the technology of regenerative surfacing of forging dies. The selected example shows how the use of a measuring arm with a laser scanner can be used to support the regeneration process. The tests were conducted in industrial conditions of a forging die. The analysis of the regeneration process was carried out at each of 4 stages: after wear in the forging process, after initial machining, after regenerative surfacing and after final machining. It has been shown that scanning can be used to develop programs for mechanical pre- treatment, to measure the volume of padding welds, to determine the amount of finishing allowance, to verify the effectiveness of the surfacing process and to control the quality of the die before the forging process. The obtained results confirmed the effectiveness of the regeneration carried out. In terms of performance, it has been shown that too much padding weld's material is a machining allowance. For this reason, the treatment is time and energy consuming and about 68% of the padding weld's material is waste or chips. The analysis showed the possibility of saving up to 45% of the weld metal material by using reasonable allowances of smaller thickness. These results indicate the need to modify the regeneration technology and the legitimacy of using robotic surfacing, which can provide greater precision and repeatability in the layingof padding weld’s beads. The next stage of research will be robotization of the analyzed forging die regeneration process using WAAM technology.

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Prajadhiana, Keval P., Yupiter H. P. Manurung, Alexander Bauer, Mohd Shahriman Adenan, Nur Izan Syahriah, Mohamed Ackiel Mohamed, Birgit Awiszus, Marcel Graf, and Andre Haelsig. "Experimental verification of computational and sensitivity analysis on substrate deformation and plastic strain induced by hollow thin-walled WAAM structure." Rapid Prototyping Journal 28, no. 3 (October 11, 2021): 559–72. http://dx.doi.org/10.1108/rpj-06-2020-0135.

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Purpose This paper aims to numerical and experimental analysis on substrate deformation and plastic strain induced by wire arc additive manufacturing. Design/methodology/approach The component has the form of a hollow, rectangular thin wall consisting of 25 deposition layers of SS316L on an SS304 substrate plate. Thermo-mechanical finite element analysis was applied with Goldak’s double-ellipsoidal heat-source model and a non-linear isotropic hardening rule based on von Mises’ yield criterion. The layer deposition was modelled using simplified geometry to minimize overall pre-processing work and computational time. Findings A new material modelling of SS316L was obtained from the chemical composition of the evolved component characterized by scanning electron microscope/energy dispersive X-ray and further generated by an advanced material-modelling software JMatPro. In defining heat-transfer coefficients, transient thermometric analysis was first performed in the bead and on the substrate, which was followed by an adjustment of the heat-transfer coefficients to reflect the actual temperature distribution. Based on the adjusted model and boundary conditions, sensitivity analysis was conducted prior to the ultimate simulation of substrate deformation and equivalent plastic strain. Furthermore, this simulation was verified by conducting a series of automated wire + arc additive manufacturing tests using robotic gas Metal arc welding with distortion measured by coordinate-measurement machine and equivalent plastic strain measured by optical three-dimensional-metrology measurements (Gesellschaft für Optische Messtechnik). Originality/value It can be concluded that a proper numerical computation using the adjusted model and property-evolved material exhibits a similar trend with acceptable agreement compared to the experiment by yielding an error percentage up to 30% for deformation and up to 21% for equivalent plastic strain at each individual measurement point.

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Piszczek, C., S. Robertson, Z. Jutric, M. Denman, and B. Osmundsen. "44: The robotic warm-up: Impact on surgical performance." American Journal of Obstetrics and Gynecology 216, no. 3 (March 2017): S600. http://dx.doi.org/10.1016/j.ajog.2016.12.091.

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Lah, Kevin, Devang Desai, Charles Chabert, Christian Gericke, and Troy Gianduzzo. "Early vascular unclamping reduces warm ischaemia time in robot-assisted laparoscopic partial nephrectomy." F1000Research 4 (May 6, 2015): 108. http://dx.doi.org/10.12688/f1000research.6276.1.

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Introduction: The aim of this study was to assess the outcomes of early vascular release in robot-assisted laparoscopic partial nephrectomy (RAPN) to reduce warm ischaemia time (WIT) and minimise renal dysfunction. RAPN is increasingly utilised in the management of small renal masses. To this end it is imperative that WIT is kept to a minimum to maintain renal function.Methods: RAPN was performed via a four-arm robotic transperitoneal approach. The renal artery and vein were individually clamped with robotic vascular bulldog clamps to allow cold scissor excision of the tumour. The cut surface was then sutured with one or two running 3-0 V-LocTM sutures, following which the vascular clamps were released. Specific bleeding vessels were then selectively oversewn and the collecting system repaired. Renorrhaphy was then completed using a running horizontal mattress 0-0 V-LocTM suture.Results: A total of 16 patients underwent RAPN with a median WIT of 15 minutes (range: 8-25), operative time 230 minutes (range: 180-280) and blood loss of 100 mL (range: 50-1000). There were no transfusions, secondary haemorrhages or urine leaks. There was one focal positive margin in a central 5.5 cm pT3a renal cell carcinomas (RCC). Long-term estimated glomerular filtration rate (eGFR) was not significantly different to pre-operative values.Conclusion: In this patient series, early vascular release effectively minimised WIT and maintained renal function without compromising perioperative safety.

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Piszczek, C., S. Robertson, Z. Jutric, M. A. Denman, and B. Osmundsen. "The Robotic Warm-Up: Impact on Surgical Performance by C-SATS Assessment." Journal of Minimally Invasive Gynecology 24, no. 7 (November 2017): S197. http://dx.doi.org/10.1016/j.jmig.2017.08.627.

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Cheema, Faisal H., Jeffrey S. Weisberg, Imran Khalid, and Harold G. Roberts. "Warm Beating Heart, Robotic Endoscopic Cox-Cryomaze: An Approach for Treating Atrial Fibrillation." Annals of Thoracic Surgery 87, no. 3 (March 2009): 966–68. http://dx.doi.org/10.1016/j.athoracsur.2008.07.045.

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Silva, Andrew, and Matthew Gombolay. "Encoding Human Domain Knowledge to Warm Start Reinforcement Learning." Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 6 (May 18, 2021): 5042–50. http://dx.doi.org/10.1609/aaai.v35i6.16638.

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Deep reinforcement learning has been successful in a variety of tasks, such as game playing and robotic manipulation. However, attempting to learn tabula rasa disregards the logical structure of many domains as well as the wealth of readily available knowledge from domain experts that could help "warm start" the learning process. We present a novel reinforcement learning technique that allows for intelligent initialization of a neural network weights and architecture. Our approach permits the encoding domain knowledge directly into a neural decision tree, and improves upon that knowledge with policy gradient updates. We empirically validate our approach on two OpenAI Gym tasks and two modified StarCraft 2 tasks, showing that our novel architecture outperforms multilayer-perceptron and recurrent architectures. Our knowledge-based framework finds superior policies compared to imitation learning-based and prior knowledge-based approaches. Importantly, we demonstrate that our approach can be used by untrained humans to initially provide >80% increase in expected reward relative to baselines prior to training (p < 0.001), which results in a >60% increase in expected reward after policy optimization (p = 0.011).

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Chen, CCG, E. Tanner, A. Malpani, SS Vedula, AN Fader, SA Scheib, IC Green, and GD Hager. "Warm-Up Before Robotic Hysterectomy Does Not Improve Trainee Operative Performance: A Randomized Trial." Journal of Minimally Invasive Gynecology 22, no. 6 (November 2015): S34. http://dx.doi.org/10.1016/j.jmig.2015.08.093.

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Altunrende, Fatih, Humberto Laydner, Adrian V. Hernandez, Riccardo Autorino, Rakesh Khanna, Michael A. White, Wahib Isac, et al. "Correlation of the RENAL nephrometry score with warm ischemia time after robotic partial nephrectomy." World Journal of Urology 31, no. 5 (April 19, 2012): 1165–69. http://dx.doi.org/10.1007/s00345-012-0867-4.

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Niu, Xiao Ping, Tim Skszek, Mark Fabischek, and Alex Zak. "Low Temperature Warm Forming of Magnesium ZEK 100 Sheets for Automotive Applications." Materials Science Forum 783-786 (May 2014): 431–36. http://dx.doi.org/10.4028/www.scientific.net/msf.783-786.431.

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Cosma R&D investigated a low temperature warm forming process by which a magnesium ZEK 100 door inner part with a single-stage draw depth of 144 mm was successfully formed. The warm forming process is comprised of three steps: 1) heating pre-lubricated blanks in an oven at temperatures ranging from 215°C to 260 °C, 2) robotic transfer of the heated blank to a mechanical stamping press, 3) forming of the panel in room temperature stamping die at speed of about 160 mm/s. The effect of process parameters on the formability of the part, as well as, the post-forming properties including the mechanical properties, microstructure evolution and deformation thinning are also presented. The result indicates that Magnesium ZEK 100 exhibits superior low temperature warm formability over Magnesium AZ31B, and the developed warm forming process is promising and potential for volume production of magnesium automotive parts.

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Biswas, Krishnendu, Rohan S. Batra, Abhishek G. Singh, Arvind P. Ganpule, Ravindra B. Sabnis, and Mahesh R. Desai. "Warm ischemic time’ and renal function preservation in robotic partial nephrectomy -evaluating its real impact." Urology & Nephrology Open Access Journal 8, no. 6 (December 28, 2020): 161–66. http://dx.doi.org/10.15406/unoaj.2020.08.00298.

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Objective: To evaluate the effect of warm ischemic time (WIT) on future renal function (RF) after robotic partial nephrectomy (RPN) and secondarily, also to find out predictors of future RF after RPN. Method and materials: All patients who underwent RPN with normal pre-operative RF and normal contralateral kidney were included in the study except for those in whom one-year follow up was not completed. Patients were divided in four groups based on WIT (zero, <20minutes, 20 minutes to 30 minutes and >30 minutes). Comparison of demographic and perioperative parameters including follow-up up to one year were done. Univariable and multivariable analysis were done to detect significant correlation of RF with those parameters. Results: Total 198 RPN patients were included in the study. The four groups had comparable demographic data (age, gender, comorbidity, smoking, body mass index, pre-operative RF). Progressively increased WIT was significantly associated with increased tumour size (p=0.022), RENAL nephrometry score (p=0.003), operative time (p=0.004) and blood loss (p=0.046). Post-operatively, RF on first post-operative day (p=0.627), at one month (p=0.581) and at one year (p=0.378) had no significant difference between the four groups. Nine (4.5%) patients progressed to chronic renal disease. Pre-operative RF and perioperative complications only had significant correlation with one-year RF. Conclusion: Tumour size and RENAL nephrometry score significantly influenced WIT. Pre-operative RF and peri-operative complications were the only significant predictors of future RF and not the WIT.

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Benway, B. M., A. J. Wang, J. M. Cabello, and S. B. Bhayani. "31 SLIDING-CLIP RENORRHAPHY FOR ROBOTIC PARTIAL NEPHRECTOMY CONTRIBUTES TO SIGNIFICANTLY SHORTER WARM ISCHEMIA TIMES." European Urology Supplements 8, no. 4 (March 2009): 128. http://dx.doi.org/10.1016/s1569-9056(09)60039-7.

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Peyronnet, B., H. Baumert, F. Bruyère, S. Droupy, A. De La Taille, N. Doumerc, J. C. Bernhard, C. Vaessen, M. Rouprêt, and K. Bensalah. "PE85: Early unclamping technique during robotic partial nephrectomy can minimize warm ischemia without increasing morbidity." European Urology Supplements 13, no. 3 (September 2014): 47–48. http://dx.doi.org/10.1016/s1569-9056(14)50116-9.

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Rosen, Daniel C., Muthumeena Kannappan, David J. Paulucci, Alp Tuna Beksac, Kyrollis Attalla, Ronney Abaza, Daniel D. Eun, et al. "Reevaluating Warm Ischemia Time as a Predictor of Renal Function Outcomes After Robotic Partial Nephrectomy." Urology 120 (October 2018): 156–61. http://dx.doi.org/10.1016/j.urology.2018.06.019.

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Matin, S. F., F. Messetti, K. Du, and G. Wood. "186 DOES ROBOTIC PARTIAL NEPHRECTOMY SHORTEN WARM ISCHEMIA TIME? AN ANALYSIS OF ISCHEMIA TIME KINETICS." European Urology Supplements 10, no. 2 (March 2011): 82. http://dx.doi.org/10.1016/s1569-9056(11)60188-7.

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Zargar, Homayoun, Oktay Akca, Daniel Ramirez, Luis Felipe Brandao, Humberto Laydner, Jayram Krishnan, Robert J. Stein, and Jihad H. Kaouk. "The Impact of Extended Warm Ischemia Time on Late Renal Function After Robotic Partial Nephrectomy." Journal of Endourology 29, no. 4 (April 2015): 444–48. http://dx.doi.org/10.1089/end.2014.0557.

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Cadeddu, Jeffrey A. "Re: The Impact of Extended Warm Ischemia Time on Late Renal Function after Robotic Partial Nephrectomy." Journal of Urology 194, no. 4 (October 2015): 953–54. http://dx.doi.org/10.1016/j.juro.2015.07.043.

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Luglio, Sofia Matilde, Mino Sportelli, Christian Frasconi, Michele Raffaelli, Lorenzo Gagliardi, Andrea Peruzzi, Veronica Fortini, et al. "Monitoring Autonomous Mowers Operative Parameters on Low-Maintenance Warm-Season Turfgrass." Applied Sciences 13, no. 13 (July 4, 2023): 7852. http://dx.doi.org/10.3390/app13137852.

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Robotic solutions and technological advances for turf management demonstrated excellent results in terms of quality, energy, and time consumption. Two battery-powered autonomous mowers (2 WD and 4 WD) with random patterns were evaluated according to different trampling levels (control, low, medium, high) on a typical warm season turfgrass at the DAFE, University of Pisa, Italy. Data on the percentage of area mowed, the distance traveled, the number of passages, and the number of intersections were collected through RTK devices and processed by a custom-built software (1.8.0.0). The main quality parameters of the turfgrass were also analyzed by visual and instrumental assessments. Soil penetration resistance was measured through a digital penetrometer. The efficiency significantly decreased as the trampling level increased (from 0.29 to 0.11). The over-trampled areas were mainly detected by the edges (on average for the medium level: 18 passages for the edges vs. 14 in the central area). The trampling activity caused a reduction in turf height (from about 2.2 cm to about 1.5 cm). The energy consumption was low and varied from 0.0047 to 0.048 kWh per cutting session. Results from this trial demonstrated suitable quality for a residential turf of the Mediterranean area (NDVI values from 0.5 to 0.6), despite the over-trampling activity. Soil penetration data were low due to the reduced weight of the machines, but slightly higher for the 4 WD model (at 5 cm of depth, about 802 kPa vs. 670 kPa).

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Tomaszewski, Jeffrey J., Marc C. Smaldone, Reza Mehrazin, Neil Kocher, Timothy Ito, Philip Abbosh, Jacob Baber, et al. "Anatomic Complexity Quantitated by Nephrometry Score Is Associated With Prolonged Warm Ischemia Time During Robotic Partial Nephrectomy." Urology 84, no. 2 (August 2014): 340–44. http://dx.doi.org/10.1016/j.urology.2014.04.013.

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Antonelli, A., L. Cindolo, M. Sandri, A. Veccia, F. Annino, F. Bertagna, F. Di Maida, et al. "The role of warm ischemia time on functional outcomes after robotic partial nephrectomy: Data from the clock randomized trial." European Urology 83 (February 2023): S1483—S1484. http://dx.doi.org/10.1016/s0302-2838(23)01068-0.

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Lendvay, Thomas S., Timothy C. Brand, Lee White, Timothy Kowalewski, Saikiran Jonnadula, Laina D. Mercer, Derek Khorsand, Justin Andros, Blake Hannaford, and Richard M. Satava. "Virtual Reality Robotic Surgery Warm-Up Improves Task Performance in a Dry Laboratory Environment: A Prospective Randomized Controlled Study." Journal of the American College of Surgeons 216, no. 6 (June 2013): 1181–92. http://dx.doi.org/10.1016/j.jamcollsurg.2013.02.012.

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Trifonov, Trifon, Rafael Brahm, Nestor Espinoza, Thomas Henning, Andrés Jordán, David Nesvorny, Rebekah I. Dawson, et al. "A Pair of Warm Giant Planets near the 2:1 Mean Motion Resonance around the K-dwarf Star TOI-2202*." Astronomical Journal 162, no. 6 (December 1, 2021): 283. http://dx.doi.org/10.3847/1538-3881/ac1bbe.

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Abstract TOI-2202 b is a transiting warm Jovian-mass planet with an orbital period of P = 11.91 days identified from the Full Frame Images data of five different sectors of the TESS mission. Ten TESS transits of TOI-2202 b combined with three follow-up light curves obtained with the CHAT robotic telescope show strong transit timing variations (TTVs) with an amplitude of about 1.2 hr. Radial velocity follow-up with FEROS, HARPS, and PFS confirms the planetary nature of the transiting candidate (a b = 0.096 ± 0.001 au, m b = 0.98 ± 0.06 M Jup), and a dynamical analysis of RVs, transit data, and TTVs points to an outer Saturn-mass companion (a c = 0.155 ± 0.002 au, m c = 0.37 ± 0.10 M Jup) near the 2:1 mean motion resonance. Our stellar modeling indicates that TOI-2202 is an early K-type star with a mass of 0.82 M ⊙, a radius of 0.79 R ⊙, and solar-like metallicity. The TOI-2202 system is very interesting because of the two warm Jovian-mass planets near the 2:1 mean motion resonance, which is a rare configuration, and their formation and dynamical evolution are still not well understood.

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Faria, Eliney F., Peter A. Caputo, Christopher G. Wood, Jose A. Karam, Graciela M. Nogueras-González, and Surena F. Matin. "Robotic partial nephrectomy shortens warm ischemia time, reducing suturing time kinetics even for an experienced laparoscopic surgeon: a comparative analysis." World Journal of Urology 32, no. 1 (June 20, 2013): 265–71. http://dx.doi.org/10.1007/s00345-013-1115-2.

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Choi, J. D., H. S. Kim, W. S. Kim, B. C. Jeong, S. S. Jeon, H. M. Lee, H. Y. Choi, and S. I. Seo. "543 RENAL DAMAGE CAUSED BY WARM ISCHEMIA DURING LAPAROSCOPIC AND ROBOTIC ASSISTED PARTIAL NEPHRECTOMY: AN ASSESSMENT USING 99MTC-DTPA GFR." European Urology Supplements 9, no. 2 (April 2010): 186. http://dx.doi.org/10.1016/s1569-9056(10)60534-9.

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Tsai*, Cheng-Han, Hsiao-Jen Chung, Eric Y. H. Huang, Tzu-Ping Lin, Tzu-Hao Huang, and William J. Huang. "MP21-03 PROLONGED WARM ISCHEMIC TIME IS A SIGNIFICANT RISK FACTOR OF HEMORRHAGIC COMPLICATION IN PATIENTS WHO RECEIVED ROBOTIC ASSISTED PARTIAL NEPHRECTOMY." Journal of Urology 203 (April 2020): e318. http://dx.doi.org/10.1097/ju.0000000000000854.03.

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Mayer, Wesley A., Guilherme Godoy, Judy M. Choi, Alvin C. Goh, Shelly X. Bian, and Richard E. Link. "Higher RENAL Nephrometry Score is Predictive of Longer Warm Ischemia Time and Collecting System Entry During Laparoscopic and Robotic-assisted Partial Nephrectomy." Urology 79, no. 5 (May 2012): 1052–56. http://dx.doi.org/10.1016/j.urology.2012.01.048.

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Wang, Linhui, Zhenjie Wu, Huamao Ye, Mingmin Li, Jing Sheng, Bing Liu, Liang Xiao, Qing Yang, and Yinghao Sun. "Correlations of Tumor Size, RENAL, Centrality Index, Preoperative Aspects and Dimensions Used for Anatomical, and Diameter-axial–polar Scoring With Warm Ischemia Time in a Single Surgeon's Series of Robotic Partial Nephrectomy." Urology 83, no. 5 (May 2014): 1075–80. http://dx.doi.org/10.1016/j.urology.2014.01.019.

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Yaseer, Ahmed, and Heping Chen. "A Review of Path Planning for Wire Arc Additive Manufacturing (WAAM)." Journal of Advanced Manufacturing Systems, April 23, 2021, 1–21. http://dx.doi.org/10.1142/s0219686721500293.

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The automatic generation of deposition paths for robotic Wire Arc Additive Manufacturing (WAAM) demands unique path planning methods than other additive manufacturing methods because of different natures of the welding processes. The tool paths for additive manufacturing by robotic welding are not fully identical to those of spray coating or CNC machining either. Recently, WAAM has been found to have great potential for the production of large metal parts, but it requires extensive research to make this new method commercially feasible and efficient. Moreover, the path planning methods should be capable of automatically generating optimal 2D paths for any given arbitrary geometry. The efficiency and accuracy of the whole WAAM process largely depend on successfully implementing the 2D tool paths. This paper reviews and analyzes the path planning techniques for WAAM. Various steps of path planning including domain decomposition, path generation, and path connection are elaborately described in this paper.

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Zheng, Pingyang, Shaohua Han, Dingqi Xue, Ling Fu, and Bifeng Jiang. "Deep learning assisted fabrication of metallic components using the robotic wire arc additive manufacturing." Rapid Prototyping Journal, March 29, 2024. http://dx.doi.org/10.1108/rpj-04-2023-0133.

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Purpose Because of the advantages of high deposition efficiency and low manufacturing cost compared with other additive technologies, robotic wire arc additive manufacturing (WAAM) technology has been widely applied for fabricating medium- to large-scale metallic components. The additive manufacturing (AM) method is a relatively complex process, which involves the workpiece modeling, conversion of the model file, slicing, path planning and so on. Then the structure is formed by the accumulated weld bead. However, the poor forming accuracy of WAAM usually leads to severe dimensional deviation between the as-built and the predesigned structures. This paper aims to propose a visual sensing technology and deep learning–assisted WAAM method for fabricating metallic structure, to simplify the complex WAAM process and improve the forming accuracy. Design/methodology/approach Instead of slicing of the workpiece modeling and generating all the welding torch paths in advance of the fabricating process, this method is carried out by adding the feature point regression branch into the Yolov5 algorithm, to detect the feature point from the images of the as-built structure. The coordinates of the feature points of each deposition layer can be calculated automatically. Then the welding torch trajectory for the next deposition layer is generated based on the position of feature point. Findings The mean average precision score of modified YOLOv5 detector is 99.5%. Two types of overhanging structures have been fabricated by the proposed method. The center contour error between the actual and theoretical is 0.56 and 0.27 mm in width direction, and 0.43 and 0.23 mm in height direction, respectively. Originality/value The fabrication of circular overhanging structures without using the complicate slicing strategy, turning table or other extra support verified the possibility of the robotic WAAM system with deep learning technology.

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Kovšca, Dejan, Bojan Starman, Aljaž Ščetinec, Damjan Klobčar, and Nikolaj Mole. "Advanced computational modelling of metallic wire-arc additive manufacturing." ESAFORM 2021, March 29, 2021. http://dx.doi.org/10.25518/esaform21.2340.

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Wire-arc welding-based additive manufacturing (WAAM) is a 3D printing technology for production of near-net-shape parts with complex geometry. This printing technology enables to build up a required shape layer by layer with a deposition of a consumable welding wire, where the welding arc is a source of heat. Welding is usually performed by CNC-controlled robotic manipulator, which provides a controlled location of material layer adding. Because the process itself involves thermo-mechanically complex phenomena, Finite Element-based virtual models are commonly employed to optimize the process parameters. This paper presents advanced computational modelling of the WAAM of a tube. A thermo-mechanical numerical model of the process is calibrated against experimental data, measured as temperature variation at the acquisition point. The virtual modelling starts with a preparation of the tube geometry in CAD software, where the geometry of the single-layer cross-section is assumed. The geometry is then exported to a G-code format data file and used to control robotic manipulator motion. On the other side, the code serves as an input to in-house developed code for automatic FEs activation in the simulation of the material layer-adding process. The time of activation of the finite elements (FEs) is directly related to the material deposition rate. The activation of the FEs is followed by a heat source, modeled with a double ellipsoidal power density distribution. The thermo-mechanical problem was solved as uncoupled to speed-up computation.

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Li, Benquan, Kishore M. Nagaraja, Runyu Zhang, Arif Malik, Hongbing Lu, and Wei Li. "Integrating robotic wire arc additive manufacturing and machining: hybrid WAAM machining." International Journal of Advanced Manufacturing Technology, October 24, 2023. http://dx.doi.org/10.1007/s00170-023-12517-4.

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GÜROL, Uğur, Savaş DİLİBAL, Batuhan TURGUT, Hakan BAYKAL, Hülya KÜMEK, and Mustafa KOÇAK. "MANUFACTURING AND CHARACTERIZATON OF WAAM-BASED BIMETALLIC CUTTING TOOL." International Journal of 3D Printing Technologies and Digital Industry, December 7, 2022. http://dx.doi.org/10.46519/ij3dptdi.1210836.

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Wire-arc additive manufacturing (WAAM) is a promising method to produce many functional components in different industries. In this method, the welding wires from the feedstock are melted by arc discharge and deposited layer by layer. Other welding wires having different chemical compositions can also be added to the top of the previously deposited layer by replacing the feed wire from the stock to produce bimetallic components. This study investigated the feasibility of using robotic wire arc additive manufacturing technology to produce a bimetallic cutting tool. The bimetallic cutting tool was produced by depositing MSG 6 GZ-60 hard-facing welding wire on top of the austenitic stainless-steel wall produced with ER 316LSi solid wire. The cutting-based equipment requires an increased abrasion resistance with the combination of ductility to provide adequate tool life and performance. Thus, detailed microstructural analysis and hardness tests were conducted to understand the general microstructural characteristic of the manufactured cutting tool, including interfaces between two different materials.

Journal articles on the topic 'Robotic WAAM'

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