Design And Fabrication Of Robotic Arm For Mig/Tig Welding

Abstract

This Work Concerns With The Design And Fabrication Of A Five Degrees Freedom Robotic Arm, Which Is Intended To Weld Steel Plate Thickness Ranges From 2mm To 10mm Using Mig/Tig Welding Process. It Has Been Made With Four Flexible Joints Such As A Gripper, Three Rectangular Shaped Links, A Rotary Table, A Rectangular Platform And A Rotating Wheel. Each Angular Motion Is Motorized By A Servo Motor. Moreover, The Angular Position Of Each Servomotor Shaft Is Controlled By A Signal From An Arduino Mega 2560Micro controller Which Executes By An Open Source Programming Language Called Visuino Code. The Design Process Involves Numerous Analytical Calculations, Mechanical Properties Calculations And Prototyping For Better Functionality. During The Thesis Work, Different Areas Of Hardware And Software Developing Process Parameters Of Robotics Arms Had Done. These Parameters Mainly Focused On The Analysis Of Kinematics, Force/Torque, Control System For Hardware Designing, Fem Analysis Of The Arm, And Robot Coding?�?S. The End Effects Of The Robot Arm Performs Different Additional Activities Like Gripping Materials To Move From One Place To Another. The Robot Arm Controlling System Was Implemented With A Series Of Five Potentiates And Additional Dc Motor Speed And Direction Control Devise. A Pre-Test Of The Robotic Arm Has Analyzed After Completing The Programming And Assembling. The Automation For Mig/Tig Welding Configuration Are Performed And Tested. Some Of The Welds Were Performed Under The Automation Condition. The Outcomes Of A Robotic Arm Are Able To Perform Gripping, Lifting, Moving And Welding Are Designed And Manufactured. While Performing The Welding Operations, The Following Drawbacks Are Observed,Uneven Vibrations, Difficulty In Transferring The Full Torque. Even Though, The Mig Welding Operation Has Performed On 2mm Steel Material. In Positioning The Torch, Weld Gap Is Maintained Properly By The Arm.In Consideration The Negative Factor Addressed Above The Following Weld Defects Are Majorly Seen On Weld Material. High Spark, Slag, Weld Jump, Deep Penetration, Under Penetration, Weld Line Deviation The Major Defects Ob