Kinematic Modelling and Simulation of 3-Axis Robotic Arm for Performing Welding Operations with Arbitarary Weld Joint Profiles

Abstract

Robot welding is a fast and accurate welding to obtain a good joint strength. In this thesis, a 3-axis robotic arm has been modeled using CAD tool for performing welding operations. For the developed robotic arm, forward & inverse kinematic analyses have been performed to move the weld torch in the desired trajectory. A new seam tracking methodology, named sewing technique has been introduced for the welded joints available in Computer Aided Design (CAD) environment. This methodology, gives the seam path by drawing a line through the adjacent centroids of curve fitted in the weld joint volume. Obtained geometric path and kinematic constraints are given as input to the modeled robot for performing welding operation followed by desired trajectory. Validation of the developed methodology has been done through simulation results while performing welding operations for different weld profiles.