Collaborative robotic arm-based arc additive manufacturing system and part forming control study

摘要

Wire and arc additive manufacturing (WAAM) is a process based on layer-by-layer stacking of additive models to manufacture parts. In this paper, an arc additive manufacturing experimental platform is built using a collaborative robotic arm, a welding machine, an industrial control machine and the upper computer software, which can realize the arc additive manufacturing of metal parts. The upper computer software can complete the slicing of additive parts, Gcode file parsing, and collaborative robotic arm and welder control. The simulation experiment platform built by the collaborative arm virtual machine can verify the consistency between the coordinate points of the layered slicing and the path points of the collaborative robotic arm, and can plan the additive path according to the demand. The frame parts completed by the arc additive manufacturing experimental platform have good molding effect and the dimensional error meets the requirements of the additive process. The research results can provide a reference for the collaborative robotic arm to realize arc additive manufacturing.