Page 13 - Welding Robots Technology, System Issues, and Applications

List of Figures

1.1. Industrial robot zone........................................................................................2
1.2. Traditional and modern fields in robotics research: where is open
source needed? ............................................................................................. 3
1.3. MIG/MAG welding principle..........................................................................5
1.4. A Greek design adapted by al-Jazari for a garden animated hand-
washer. ....................................................................................................... 12
1.5. Leonardo’s studies for a humanoid robot. .....................................................13
1.6. Nicola Tesla’s remote controlled miniature submarine.................................14
1.7. Several current robot manipulators available on the market..........................15
1.8. Robotic glass deburring system.....................................................................18
1.9. Operator interface for de-palletizing robot....................................................20
1.10. Operator interface for deburring robot ..........................................................21
2.1. Diagrammatic sketch of the gas tungsten arc welding process
(GATW)........................................................................................................ 28
2.2. Plot of the arc voltage vs current voltage for GTAW power
sources. ......................................................................................................... 29
2.3. Sketch of the inverter principle of the power sources....................................29
2.4. Exploded view of a torch: back cap – 1; electrode – 2; collet – 3;
handle – 4; collet body – 5; nozzle – 6.......................................................... 30
2.5. Effect of current and polarity on weld bead shape. .......................................31
2.6. Influence of the balance between alternate half cycles on GTAW................32
2.7. Schematic representation of a GTAW hot wire system.................................35
2.8. Schematic representation of dual-shielding GTAW system..........................36
2.9. Schematic representation of gas metal arc welding process (GMAW). ........37
2.10. Self-adjustment mechanism with a constant-voltage power
source. Arc length L 1 ! L 2. ............................................................................ 39
2.11. Effect of shielding gas on weld geometry. argon – a;
argon+oxygen – b; CO 2 – c; argon+CO 2 – d; helium – e;
argon+helium – f........................................................................................... 43
2.12. Cross section of common flux-cored electrodes. Solid
electrode – a; flux-cored electrodes – b, c and d. ......................................... 44
2.13. Schematic representation of a laser welding system..................................... 46

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