Autonomous welding of large steel fabrications

摘要

Purpose Development and demonstration of an autonomous, mobile welding robot capable of fabricating large‐scale customised structures. Design/methodology/approach An autonomous welding robot has been developed under the EC Framework V Growth program. The system comprises a global vision system for part location and orientation, and a robot transport vehicle (RTV) which carries a 6‐axis robot, robot controller, welding equipment, and local sensors at the welding torch. The RTV path, robot arm motion and weld process programming are performed automatically using sensors and specially customised simulation software. Findings The technology developed within the project was demonstrated, in November 2004, to be capable of identifying and welding large scale customised structures as found in the earth moving equipment and bridge fabrication industries. Research limitations/implications The project demonstrated that current sensor technology is capable of being applied successfully to autonomous robots, but further developments in sensor technology are required to improve accuracy and joint access. Practical implications The NOMAD concept of autonomous mobile robots provides an alternative solution to welding mass customised structures. Originality/value This project demonstrated, for the first time, the capability of autonomous robots to weld large scale customised structures.