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Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method

Zhao-Qin Wang (State Key Laboratory of Advanced Processing and Recycling of Nonferrous Metals, Lanzhou University of Technology, Lanzhou, China; School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou, China and Key Laboratory of System Dynamics and Reliability of Rail Transport Equipment of Gansu Province, Lanzhou Jiaotong University, Lanzhou, China)
Yu Shi (State Key Laboratory of Advanced Processing and Recycling of Nonferrous Metals, Lanzhou University of Technology, Lanzhou, China)
Xiao-Rong Wang (School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou, China and Key Laboratory of System Dynamics and Reliability of Rail Transport Equipment of Gansu Province, Lanzhou Jiaotong University, Lanzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 25 April 2022

Issue publication date: 20 September 2022

71

Abstract

Purpose

The bisection inverse search bow height control interpolation (BIS-BHCI) method for nonuniform rational B-splines (NURBS) curve is proposed to accomplish the serial robotic plasma cladding of planar complex curve coating with high precision.

Design/methodology/approach

A plasma–computer integrated cladding system is constructed based on a Motoman-UP6 serial robot and a plasma power. Based on the BIS-BHCI method, combining the serial robotic kinematics with the NURBS curve model, an offline plasma cladding software is developed for Motoman-UP6. Before plasma cladding, a planar NURBS curve coating is designed and defined and its BIS-BHCI is carried out with proper parameters. Then, the cladding programs are generated using the BIS-BHCI results and the robotic kinematics and inputted into the serial robotic controller. After that, the plasma cladding of the planar NURBS curve coating is implemented based on the Motoman-UP6 serial robot.

Findings

The simulation and plasma cladding for the NURBS curve coating shows that the BIS-BHCI method is feasible and effective. Plasma cladding of complex NURBS curve coating based on serial robot is feasible and effective.

Originality/value

The complex NURBS curve coating is prepared based on a serial robot platform for the first time. It provides a theoretical and technical basis for plasma cladding to produce surface coatings of industrial complex parts. With the increasing application of complex parts, the plasma cladding process of complex NURBS curve coatings has a broad application prospect.

Keywords

Acknowledgements

This project was supported by National Natural Science Foundation of China (Grant nos 52075235 and 51764038), Employee Innovation Subsidy Fund Project of All-China Federation of Trade Unions, Open Project of State Key Laboratory of Advanced Welding and Joining (AWJ-21Z02), Gansu Science and Technology Planning Project (20YF8GA033, 20YF3FA040, 21YF5GA048, 17YF1GA018, 17CX1JA117 and 18JR3RA132), Western Young Scholars of Chinese Academy of Sciences, Lanzhou Talent Innovation and Entrepreneurship Project (2020-RC-120, 2019-RC-102 and 2018-RC-108), Longyuan Youth Innovative and Entrepreneurial Talents Project, Foundation of A Hundred Youth Talents Training Program of Lanzhou Jiaotong University and Gansu Provincial Employee Technology Innovation Subsidy Fund Project.

Citation

Wang, Z.-Q., Shi, Y. and Wang, X.-R. (2022), "Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method", Industrial Robot, Vol. 49 No. 6, pp. 1133-1143. https://doi.org/10.1108/IR-01-2022-0012

Publisher

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Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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