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Автор: Grafiati
Опубліковано: 8 червня 2024

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  1. Статті в журналах
  2. Дисертації
  3. Книги
  4. Частини книг
  5. Тези доповідей конференцій

Статті в журналах з теми "Robotic WAAM":

1

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.
2

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.
3

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.
4

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.
5

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.
6

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.
7

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.
8

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.
9

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.
10

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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Статті в журналах

Дисертації з теми "Robotic WAAM":

1

Wang, Zeya. "Robotisation de la fabrication additive par procédé arc-fil : Identification et amélioration de la commande." Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0068.

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La fabrication additive de pièces métalliques a fait l'objet d'un vif intérêt ces dernières années comme une solution technologique importante pour la réalisation de pièces complexes. Parmi les différents procédés de la fabrication additive métallique, la fabrication additive arc-fil (FAAF) utilisant le soudage CMT (Cold metal transfer) est retenue pour notre étude grâce à son taux de dépôt important, faible coût des équipements et peu de perte de matière par projections lors de la fabrication. Dans la littérature, il est constaté que l'un des problèmes les plus importants qui empêchent l'application industrielle du procédé FAAF est la mauvaise précision géométrique des pièces fabriquées à cause de l'instabilité du procédé et du manque de contrôle-commande fiable pour traiter les irrégularités pendant le dépôt. L'objectif de ce travail est d'améliorer la stabilité et la performance géométrique du procédé. Dans ce travail, un système expérimental est mis en œuvre pour robotiser le procédé et contrôler la géométrie des pièces déposées. Le procédé est modélisé par les réseaux de neurones artificiels et un système contrôle-commande est développé permettant de commander la géométrie du dépôt et de réduire les erreurs de fabrication. De plus, une stratégie d'amélioration est appliquée afin de réduire les instabilités géométriques aux deux extrémités du cordon ; une méthode de contrôle in situ est également développée pour détecter les défauts internes des pièces déposées
Additive manufacturing of metallic parts has gained significant popularity in recent years as an important technological solution for the production of complex parts. Among the different processes of metal additive manufacturing, the wire-arc additive manufacturing (WAAM) using CMT (Cold metal transfer) welding is taken for our study because of its high deposition rate, low cost of equipment and little loss of material (low spatter) during manufacturing. In the literature review, it can be noted that one of the most important problems that prevent the industrial application of the WAAM is the poor geometric accuracy of the manufactured parts due to the instability of the process and the lack of reliable control system to deal with irregularities during deposition. The focus of this work is to improve the stability and geometric performance of the process. In this work, an experimental system is implemented to robotize the process and to monitor the geometry of the deposited parts. The process is modeled by artificial neural networks and a control system is developed to regulate the geometry of the deposit and to reduce manufacturing errors. Furthermore, an improvement strategy is applied in order to reduce the geometric instabilities at the ends of the bead; an in-situ monitoring method is also developed to detect the internal defects of deposited parts
2

Townsend, William T. (William Thomas). "The Effect of Transmission Design on Force-Controlled Manipulator Performance." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/6835.

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Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction in the transmission mechanisms of a manipulator. A set of requisites for high performance then guides the development of mechanical-design and servo strategies for improved performance. A single-degree-of-freedom transmission testbed was constructed that confirms the predicted effect of Coulomb friction on robustness; design and construction of a cable-driven, four-degree-of- freedom, "whole-arm" manipulator illustrates the recommended design strategies.
3

Martins, Ana Margarida Andrade. "Análise da Alteração da Massa Aparente de Robôs Utilizando Controlo de Binário." Master's thesis, 2015. http://hdl.handle.net/10316/40472.

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4

(9179864), John Foster. "Advanced Control Strategies for Diesel Engine Thermal Management and Class 8 Truck Platooning." Thesis, 2020.

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Commercial vehicles in the United States account for a significant fraction of greenhouse gas emissions and NOx emissions. The objectives of this work are reduction in commercial vehicle NOx emissions through enhanced aftertreatment thermal management via diesel engine variable valve actuation and the reduction of commercial vehicle fuel consumption/GHG emissions by enabling more effective class 8 truck platooning.


First, a novel diesel engine aftertreatment thermal management strategy is proposed which utilizes a 2-stroke breathing variable value actuation strategy to increase the mass flow rate of exhaust gas. Experiments showed that when allowed to operate with modestly higher engine-out emissions, temperatures comparable to baseline could be achieved with a 1.75x exhaust mass flow rate, which could be beneficial for heating the SCR catalyst in a cold-start scenario.


Second, a methodology is presented for characterizing aerodynamic drag coefficients of platooning trucks using experimental track-test data, which allowed for the development of high-fidelity platoon simulations and thereby enabled rapid development of advanced platoon controllers. Single truck and platoon drag coefficients were calculated for late model year Peterbilt 579’s based on experimental data collected during J1321 fuel economy tests for a two-truck platoon at 65 mph with a 55’ truck gap. Results show drag coefficients of 0.53, 0.50, and 0.45 for a single truck, a platoon front truck, and a platoon rear truck, respectively.


Finally, a PID-based platoon controller is presented for maximizing fuel savings and gap control on hilly terrain using a dynamically-variable platoon gap. The controller was vetted in simulation and demonstrated on a vehicle in closed-course functionality testing. Simulations show that the controller is capable of 6-9% rear truck fuel savings on a heavily-graded route compared to a production-intent platoon controller, while increasing control over the truck gap to discourage other vehicles from cutting in.

Книги з теми "Robotic WAAM":

1

S, Antrazi Sami, and United States. National Aeronautics and Space Administration., eds. Semiannual progress report on autonomous berthing/unberthing of a work attachment mechanism/work attachment fixture (WAM/WAF). [Washington, D.C.?]: Catholic University of America, Dept. of Electical Engineering, 1992.

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2

Wang, Liwei. Web-Age Information Management: WAIM 2011 International Workshops: WGIM 2011, XMLDM 2011, SNA 2011, Wuhan, China, September 14-16, 2011, Revised Selected Papers. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012.

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3

Prescott, Tony J. Mammals and mammal-like robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0045.

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Mammals are warm-blooded tetrapod vertebrates that evolved from reptilian ancestors during the late Triassic period around 225 million years ago. This chapter focuses on some of the most distinctive mammalian characteristics and on integrated robotic systems that seek to capture these capabilities in biomimetic artifacts. Topics covered include the mammalian brain, novel sensory systems, agile locomotion, dextrous grasp, and social cognition. Attempts to build integrated robotic systems that broadly match the behaviour and appearance of specific mammalian species have focused most strongly on humans, on quadrupeds such as cats and dogs, and on rodents. The goal of creating robots that resemble mammals will be encouraged by interest in mammal-like robots that can emulate some of the capacities for social companionship provided by domesticated mammals such as rabbits, dogs, and cats.
4

Li, Guoliang, Feifei Li, Zhenjie Zhang, Seung-won Hwang, and Bin Yao. Web-Age Information Management: 15th International Conference, WAIM 2014, Macau, China, June 16-18, 2014, Proceedings. Springer, 2014.

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Частини книг з теми "Robotic WAAM":

1

Dharmawan, Audelia Gumarus, Yi Xiong, Shaohui Foong, and Gim Song Soh. "Development of an Automated and Adaptive System for Robotic Hybrid-Wire Arc Additive Manufacturing (H-WAAM)." In Robotics and Mechatronics, 323–33. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_29.

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2

Porpiglia, Francesco, Daniele Amparore, and Riccardo Bertolo. "Warm Ischemia During Robotic Partial Nephrectomy." In Robotic Urology, 95–108. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65864-3_7.

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3

Khan, Muhammad Jamal, and Omer Karim. "Use of Ethicon Vicryl foil and robotic camera lights to warm the robotic scope lens to prevent lens fogging." In Top Tips in Urology, 89. Oxford: John Wiley & Sons, Ltd, 2013. http://dx.doi.org/10.1002/9781118508060.ch56.

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4

Sreenivasan, S. V., P. K. Dutta, and K. J. Waldron. "The Wheeled Actively Articulated Vehicle (WAAV): An Advanced Off-Road Mobility Concept." In Advances in Robot Kinematics and Computational Geometry, 141–50. Dordrecht: Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_14.

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5

Klötzer, Christian, Martin-Christoph Wanner, Wilko Flügge, and Lars Greitsch. "Implementation of Innovative Manufacturing Technologies in Foundries for Large-Volume Components." In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 229–40. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-74032-0_19.

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AbstractThe development of new manufacturing technologies opens up new perspectives for the production of propellers (diameter < 5 m), especially since the use of the established sand casting process as a technology is only partially competitive in today’s market. Therefore, different applications of generative manufacturing methods for the implementation into the production process were investigated. One approach is the mould production using additive manufacturing processes. Investigations showed that especially for large components with high wall thicknesses available systems and processes for sand casting mould production are cost-intensive and conditionally suitable. With our development of a large-format FDM printer, however, the direct production of large-format positive moulds for, for example, yacht propellers up to 4 m in diameter is possible. Due to the comparatively low accuracy requirements for the mould, the focus is on the durability of the drive system and the rigidity of this FDM printer. Equipped with simple linear technology in portal design and cubic design of the frame structure with rigid heated print bed, the aim is to achieve maximum material extrusion via the print head. The production of plastic models not only facilitates handling during the moulding process, but also allows considerable time and cost savings to be made during the running process. A further step in our development is the direct production of the components using WAAM. A possible concept for robot-supported build-up welding for the production of new innovative propeller geometries is presented using the example of a hollow turbine blade for a tidal power plant.
6

Sugano, S., J. Nakagawa, Y. Tanaka, and I. Kato. "Keyboard Playing by an Anthropomorphic Robot: Fingers and Arm Model and its Control System of WAM-7R." In Theory and Practice of Robots and Manipulators, 153–61. Boston, MA: Springer US, 1985. http://dx.doi.org/10.1007/978-1-4615-9882-4_17.

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7

Ramadan, Aya Abd Alla, Sherif Elatriby, Abd El Ghany, and Azza Fathalla Barakat. "Optimized Robotic WAAM." In Applications of Artificial Intelligence in Additive Manufacturing, 114–37. IGI Global, 2022. http://dx.doi.org/10.4018/978-1-7998-8516-0.ch006.

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This chapter summarizes a PhD thesis introducing a methodology for optimizing robotic MIG (metal inert gas) to perform WAAM (wire and arc additive manufacturing) without using machines equipped with CMT (cold metal transfer) technology. It tries to find the optimal MIG parameters to make WAAM using a welding robot feasible production technique capable of making functional products with proper mechanical properties. Some experiments were performed first to collect data. Then NN (neural network) models were created to simulate the MIG process. Then different optimization techniques were used to find the optimal parameters to be used for deposition. These results were practically tested, and the best one was selected to be used in the third stage. In the third stage, a block of metal was deposited. Then samples were cut from deposited blocks in two directions and tested for tension stress. These samples were successful. They showed behavior close to base alloy.
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Vo, Hoang Thanh, Christelle Grandvallet, and Frédéric Vignat. "A model for Manufacturing Large Parts with WAAM Technology." In Advances in Transdisciplinary Engineering. IOS Press, 2021. http://dx.doi.org/10.3233/atde210016.

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Wire Arc Additive Manufacturing (WAAM) is a metallic additive manufacturing process based on the fusion of metallic wire using an electric arc as a heat source. The challenge associated with WAAM is heat management and understanding bead geometry. The printing process involves high temperatures, which results in the build-up of residual stresses can often cause deformations in a component. All of the process variables, such as torch speed (TS), wire feed speed (WFS), idle time, combine to produce the geometry of the deposit bead that results in the desired component shape. So, determining a method for choosing a good combined parameter process is very important to obtain a high-quality part. This article presents a study on how to use the WAAM process to produce a complexity part of aluminium alloys. The step of the determination process parameter is concentrated to develop in this study. An experimental design is determined to study the influence between the process parameters, for example, WFS, TS, high layer, length of bead. Different samples are made using the Yaskawa robot, using the classic CMT (Cold Metal Transfer) as a manufacturing method, using zigzag filling as a manufacturing strategy with the same WFS and same idle times and different TS, different bead lengths. A new manufacturing method using the zigzag filling strategy is proposed by adding an important step in determining the process parameters. The results indicate that the length of the bead has a significant impact on another parameter of the process.
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Lewis, Lundy, Ted Metzler, and Linda Cook. "An Autonomous Robot-to-Group Exercise Coach at a Senior Living Community." In Rapid Automation, 1145–63. IGI Global, 2019. http://dx.doi.org/10.4018/978-1-5225-8060-7.ch054.

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A NAO humanoid robot is programmed to act as an autonomous exercise instructor at a senior living community. In an on-site session, the robot does (i) a warm-up routine in which the robot directs participants to ask it to perform various tasks such as dancing and reciting poems and (ii) an exercise routine in which the robot guides participants through various physical exercises such as leg, hand, and neck exercises. The participants include six elderly residents, three nurses/caregivers, and two administrators. The elderly group is categorized with respect to cognitive awareness and physical capability. The session is videoed and then analyzed to measure several dimensions of human-robot interaction with these diverse participants, including affective reaction, effective reaction, and group responsiveness. Following the exercise session, a focus group session is conducted with the seniors and a separate focus group session conducted with the nurses and administrators to glean further data.
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McGinn, Colin. "Matrix Of Dreams." In Philosophers Explore The Matrix, 62–70. Oxford University PressNew York, NY, 2004. http://dx.doi.org/10.1093/oso/9780195181067.003.0005.

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Abstract The Matrix naturally adopts the perspective of the humans: they are the victims, the slaves, cruelly exploited by the machines. But there is another perspective, that of the machines themselves. So let’s look at it from the point of view of the machines. As Morpheus explains to Neo, there was a catastrophic war between the humans and the machines, after the humans had produced AI, a sentient robot that spawned a race of its own. It isn’t known now who started the war, but it did follow a long period of machine exploitation by humans. What is known is that it was the humans who “scorched the sky,” blocking out the sun’s rays, in an attempt at machine genocide-since the machines needed solar power to survive. In response and retaliation, the machines subdued the humans and made them into sources of energy-batteries, in effect. Each human now floats in her own personal vat, a warm and womblike environment, while the machines feed in essential nutrients, in exchange for the energy they need. But this is no wretched slave camp, a grotesque gulag of torment and suffering; it is idyllic, in its way. The humans are given exactly the lives they had before. Things are no different for them, subjectively speaking. Indeed, at an earlier stage the Matrix offered them a vastly improved life, but the humans rejected this in favor of a familiar life of moderate woe-the kind of life they had always had and to which they seemed addicted. But if it had been left up to the machines, the Matrix would have been a virtual paradise for humans-and all for a little bit of battery power. This, after an attempt to wipe the machines out for good, starving them of the food they need: the sun, the life-giving sun.

Тези доповідей конференцій з теми "Robotic WAAM":

1

Kulkarni, Ashish, Prahar M. Bhatt, Alec Kanyuck, and Satyandra K. Gupta. "Using Unsupervised Learning for Regulating Deposition Speed During Robotic Wire Arc Additive Manufacturing." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-71865.

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Abstract Robotic Wire Arc Additive Manufacturing (WAAM) is the layer-by-layer deposition of molten metal to build a three-dimensional part. In this process, the fed metal wire is melted using an electric arc as a heat source. The process is sensitive to the arc conditions, such as arc length. While building WAAM parts, the metal beads overlap at corners causing material accumulation. Material accumulation is undesirable as it leads to uneven build height and process failures caused by arc length variation. This paper introduces a deposition speed regulation scheme to avoid the corner accumulation problem and build parts with uniform build height. The regulated speed has a complex relationship with the corner angle, bead geometry, and molten metal dynamics. So we need to train a model that can predict suitable speed regulations for corner angles encountered while building the part. We develop an unsupervised learning technique to characterize the uniformity of the bead profile of a WAAM built layer and check for anomalous bead profiles. We train a model using these results that can predict suitable speed regulation parameters for different corner angles. We test this model by building a WAAM part using our speed regulation scheme and validate if the built part has uniform build height and reduced corner defects.
2

Ruiz, Cesar, Davoud Jafari, Vignesh Venkata Subramanian, Tom H. J. Vaneker, Wei Ya, and Qiang Huang. "Improving Geometric Accuracy in Wire and Arc Additive Manufacturing With Engineering-Informed Machine Learning." In ASME 2022 17th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/msec2022-85325.

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Abstract Wire and arc additive manufacturing (WAAM) is a promising technology for fast and cost-effective fabrication of large-scale components made of high-value materials for industries such as petroleum and aerospace. By using robotic arc welding and wire filler materials, WAAM can fabricate complex large near-net shape parts with high deposition rates, short lead times and millimeter resolution. However, due to high temperature gradients and residual stresses, current WAAM technologies suffer from high surface roughness and poor shape accuracy. This limits the adoption of these technologies in industry and complicates process control and optimization. Since its conception, considerable research efforts have been made on improving the mechanical and microstructural performance of WAAM components while few studies have investigated their geometric accuracy. In this work, we propose an engineering-informed machine learning (ML) framework for predicting and compensating for the geometric deformation of WAAM fabricated products based on a few sample parts. The proposed ML algorithm efficiently separates geometric shape deviation into deformation and surface roughness. Then, the predicted shape deformation of a new product is minimized by applying optimal geometric compensation to the product design. Experimental validation on cylindrical shapes showed that the proposed methodology can effectively reduce product shape deviation, which facilitates the widespread adoption of WAAM.
3

Zimermann, Rastilav, Muhammad Khalid Rizwan, Charalampos Loukas, Momchil Vasilev, Ehsan Mohseni, Randika K. W. Vithanage, Charles N. Macleod, et al. "Dry-coupled ultrasound phased array inspection of as-built complex geometry metal additive manufactured components." In ASNT Research Symposium 2023. The American Society for Nondestructive Testing Inc., 2023. http://dx.doi.org/10.32548/rs.2023.019.

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Growing demand for smart and flexible factories, producing high-value components cost-effectively has driven the development of large-scale metal Additive Manufacturing (AM) processes such as Wire+Arc Additive Manufacturing (WAAM). To match the strengths of metal AM, a novel high-temperature dry-coupled ultrasound roller-probe was developed to facilitate quality assurance, deployed in-process. In this work, the authors present novel work and research from the field of an automated dry-coupled ultrasound in-process NDE. During the experiments, a titanium complex-shaped WAAM, featuring characteristic geometries and a range of flat bottom holes in critical locations drives the development of an NDE strategy deployable on real as-built WAAM geometries. The outcome of this work demonstrates a novel knowledge applicable to path planning strategy for the best ultrasound wave propagation into critical locations within a specimen along with further enhancements applied to the existing robotic NDE system.
4

Lange, Jörg, and Thilo Feucht. "3-D-Printing with Steel: Additive Manufacturing of Connection Elements and Beam Reinforcements." In IABSE Symposium, Guimarães 2019: Towards a Resilient Built Environment Risk and Asset Management. Zurich, Switzerland: International Association for Bridge and Structural Engineering (IABSE), 2019. http://dx.doi.org/10.2749/guimaraes.2019.1836.

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<p>Automated steel construction manufacturing with robots is no longer just a dream of the future but a reality. The Institute for Steel Structures and Materials Mechanics of the Technical University (TU) of Darmstadt/Germany has two welding robots. These robots are being used to assess various application for Additive Manufacturing. For the construction of steel, Wire + Arc Additive Manufacturing (WAAM) is suitable, which is similar to Gas-Shielded Metal Arc Welding. The wire electrode serves as printing material. With this method we can produce components in layers and achieve deposition rates of 5 kg/h. The components studied in this research project are connection elements such as simply supported girder connections and head plates and reinforcing elements such as stiffeners and beam reinforcements. In this paper topology-optimized structures are presented, which can be printed with the WAAM directly on steel beams.</p>
5

O. Couto, Marcus, Ramon R. Costa, Antonio C. Leite, Fernando Lizarralde, Arthur G. Rodrigues, and João C. Payão Filho. "Weld Bead Width Measurement in a GMAW WAAM System by using Passive Vision." In Congresso Brasileiro de Automática - 2020. sbabra, 2020. http://dx.doi.org/10.48011/asba.v2i1.1121.

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The development and integration of Wire Arc Additive Manufacturing (WAAM) systems is nowadays a topic of growing interest. Industries are starting to focus on deploying this technology due to its vast capability of producing different types of parts and creating new possibilities for engineering design. Measuring the process characteristics is crucial in a WAAM system, because it helps to ensure that the build up was done according as planned. In this work, it was developed a passive vision-based monitoring method to measure the metal bead width in a WAAM process. The deposition was carried out by using a carbon steel wire with GMAW process, a Motoman HP20 robot arm and a welding torch device. A Xiris XVC-1000camera was used for visual inspection and mounted in a suitable configuration to minimize arc's noise. The experimental results show that it is possible to measure the bead deposition width in real time with a satisfactory accuracy using monocular cameras. Therefore, it is a feasible solution to be used in WAAM systems with the advantage of being relatively low-cost, as compared to other active vision equipment.
6

Cortesa˜o, Rui, Brian Zenowich, Rui Arau´jo, and William Townsend. "Robotic Comanipulation With Active Impedance Control." In ASME-AFM 2009 World Conference on Innovative Virtual Reality. ASMEDC, 2009. http://dx.doi.org/10.1115/winvr2009-724.

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The paper presents active impedance control for robotic comanipulation tasks, enabling virtual contact interactions. Computed torque control in the task space powered by multiple-output active observers (AOBs) is proposed, enhancing haptic perception. Forces and force derivatives are artificially measured from position data around an equilibrium point that can move with time. Control techniques to deal with critical impedances are introduced, taking into account the noise distribution along the system. Stochastic design is discussed. A dynamic model of the redundant lightweight 7-DOF WAM™ arm is derived and evaluated, playing a key role in the control design. Experiments for small and high impedances are presented, highlighting merits and limitations of the approach. A comparative study between active and non-active impedance control is made.
7

PULICKAN, Shyam. "Assessment of wire arc additive manufacturing with respect to the repeatability of the process under uncertainties." In Material Forming. Materials Research Forum LLC, 2024. http://dx.doi.org/10.21741/9781644903131-18.

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Abstract. Energy Deposition Methods (EDM) is on the rise with its capabilities to manufacture relatively big parts, and Wire-Arc Additive Manufacturing (WAAM) has been on the forefront. Developments in this technology has led to the innovation of WAAM-Cold Metal Transfer (WAAM-CMT), which is much more efficient than its predecessors. Nevertheless, it comes with its own complexities, giving rise to uncertainties, eventually causing variations in the geometry of fabricated parts. But these uncertainties can be traced back to the input parameters involved in the process. Even though, WAAM is influenced by several phenomena and parameters, only a handful of parameters are practically controlled during the process. Among these the most important parameters identified are Wire Feed Rate (V_feed) and Travel Speed (V_T) of the robot, which have a direct influence on the parts fabricated. To quantify the variability of these process parameters and the geometry of the bead, 140 single-layered beads are fabricated with four different set of input parameters. Quantification of the variations and the repeatability aspect of these variables, and thereby the process itself, are then studied using statistical tools like ANOVA. This gives an idea on how these vary from bead to bead. Quantifying these uncertainties and understanding the variations would help improve the process. This would enable better control of the process parameters, thus helping to make better design of the process and better predictions about the variations to expect.
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Phan, Scott, Alexandros Lioulemes, Cyril Lutterodt, Fillia Makedon, and Vangelis Metsis. "Guided physical therapy through the use of the Barrett WAM robotic arm." In 2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games (HAVE). IEEE, 2014. http://dx.doi.org/10.1109/have.2014.6954326.

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9

Otterbacher, Jahna, and Michael Talias. "S/he's too Warm/Agentic!" In HRI '17: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2017. http://dx.doi.org/10.1145/2909824.3020220.

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10

Mansard, N., A. DelPrete, M. Geisert, S. Tonneau, and O. Stasse. "Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller." In 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. http://dx.doi.org/10.1109/icra.2018.8463154.

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