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Chinese Journal of Lasers, Volume. 48, Issue 18, 1802020(2021)

Trajectory Optimization of Dual Beam Laser Welding Robot

Qingfei Zeng, Xuemei Liu*, Yan Feng, and Nan Xie
Author Affiliations
  • School of Mechanical Engineering, Tongji University, Shanghai 201804, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (18)
    Equations (0)
    References (22)
    Cited By (1)
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    Figures & Tables(18)
    Welding skin and stringer. (a) Part;(b) three-dimensional model

    Fig. 1. Welding skin and stringer. (a) Part;(b) three-dimensional model

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    Welding dual seam of T-joint

    Fig. 2. Welding dual seam of T-joint

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    Dual-beam laser welding robot system

    Fig. 3. Dual-beam laser welding robot system

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    Planning level of robot multi-arm cooperative welding

    Fig. 4. Planning level of robot multi-arm cooperative welding

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    Schematic of correlation vector of critical path points

    Fig. 5. Schematic of correlation vector of critical path points

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    Schematic of coordinate system transformation

    Fig. 6. Schematic of coordinate system transformation

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    Multi objective optimization trajectory flow chart based on NSGAⅢ

    Fig. 7. Multi objective optimization trajectory flow chart based on NSGAⅢ

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    Pareto set

    Fig. 8. Pareto set

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    Pareto set based on NSGAⅡ

    Fig. 9. Pareto set based on NSGAⅡ

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    Speed comparison of laser welding robot middle manipulator end effector before and after optimization

    Fig. 10. Speed comparison of laser welding robot middle manipulator end effector before and after optimization

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    • Table 1. Position and attitude of the pressing end effector

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      Table 1. Position and attitude of the pressing end effector

      in(xi,1)n(yi,1)n(zi,1)o(xi,1)o(yi,1)o(zi,1)a(xi,1)a(yi,1)a(zi,1)xi,1yi,1zi,1
      10.980590.000370.196060.030990.98714-0.15686-0.193600.159890.96797-1494.552411.741658.92
      20.982060.000360.188590.029800.98714-0.15709-0.186220.159890.96941-1571.612411.711643.38
      …………………………………
      500.98206-0.00036-0.18859-0.029800.98714-0.157090.186220.159890.96941-5318.402411.671622.26
      510.98059-0.00037-0.19606-0.030990.98714-0.156860.193600.159890.96797-5395.622411.691636.96

    • Table 2. Position and attitude of the left welding seam end effector

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      Table 2. Position and attitude of the left welding seam end effector

      in(xi,2)n(yi,2)n(zi,2)o(xi,2)o(yi,2)o(zi,2)a(xi,2)a(yi,2)a(zi,2)xi,2yi,2zi,2
      1-0.00978-0.998720.049730.9812000.19298-0.192730.050680.97994-1562.502075.971672.12
      2-0.00941-0.998720.049800.9826200.18561-0.185370.050680.98136-1639.232075.971657.33
      …………………………………
      500.00941-0.998720.049800.982620-0.185610.185370.050680.98136-5360.802075.971657.34
      510.00978-0.998720.049730.981200-0.192980.192730.050680.97994-5437.502075.971672.12

    • Table 3. Position and attitude of the right welding seam end effector

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      Table 3. Position and attitude of the right welding seam end effector

      in(xi,3)n(yi,3)n(zi,3)o(xi,3)o(yi,3)o(zi,3)a(xi,3)a(yi,3)a(zi,3)xi,3yi,3zi,3
      10.051520.96367-0.26210-0.981220-0.19287-0.185860.267120.94557-1543.022738.611566.84
      20.049550.96367-0.26248-0.982650-0.18549-0.178750.267120.94694-1620.602738.611551.89
      …………………………………
      50-0.049550.96367-0.26248-0.9826500.185490.178750.267120.94694-5379.472738.611551.90
      51-0.051520.96367-0.26210-0.9812300.192870.185860.267120.94557-5456.982738.611566.84

    • Table 4. Objective vector value of optimal solution

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      Table 4. Objective vector value of optimal solution

      NumberT1 /sT2 /s2
      136.93730.0030
      236.94080.0029
      ………
      3538.39770.0007
      3638.40070.0007

    • Table 5. Speed of robot end effectors before optimization

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      Table 5. Speed of robot end effectors before optimization

      Time /sSpeed of middle manipulator end effector /(m·min-1)Speed of left manipulator end effector /(m·min-1)Speed of right manipulator end effector /(m·min-1)
      013.234913.165613.3134
      0.74005.15245.12255.1773
      …………
      36.260410.084610.022410.1262
      37.00044.85694.835514.8899

    • Table 6. Speed of robot end effectors optimized by NSGAⅡ

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      Table 6. Speed of robot end effectors optimized by NSGAⅡ

      Time/sSpeed of middle manipulator end effector /(m·min-1)Speed of left manipulator end effector /(m·min-1)Speed of right manipulator end effector /(m·min-1)
      08.06338.11468.02307
      0.74106.07396.10396.0391
      …………
      36.30807.62857.66177.5822
      37.04904.52364.55234.5025

    • Table 7. Speed of robot end effectors optimized by NSGAⅢ

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      Table 7. Speed of robot end effectors optimized by NSGAⅢ

      Time /sSpeed of middle manipulator end effector /(m·min-1)Speed of left manipulator end effector /(m·min-1)Speed of right manipulator end effector /(m·min-1)
      07.02826.99437.0747
      0.74006.39666.35946.4274
      …………
      36.26047.31317.268877.3455
      37.00043.20363.190463.2259

    • Table 8. Comparison of two algorithms

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      Table 8. Comparison of two algorithms

      AlgorithmComputing time /sNumber of non-inferior solutions
      NSGAⅢ6802.7436
      NSGAⅡ6777.0731
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    Qingfei Zeng, Xuemei Liu, Yan Feng, Nan Xie. Trajectory Optimization of Dual Beam Laser Welding Robot[J]. Chinese Journal of Lasers, 2021, 48(18): 1802020

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    Paper Information

    Category: laser manufacturing

    Received: Mar. 16, 2021

    Accepted: May. 17, 2021

    Published Online: Sep. 7, 2021

    The Author Email: Liu Xuemei (liuxuemei@tongji.edu.cn)

    DOI:10.3788/CJL202148.1802020

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology