| Welding Robot Based Rapid Prototyping (WPRP) is a metal parts direct forming technology that forming parts through welding deposition by welding robot. Base on the features of welding process, by using RP software slicing and planning the modeling geometric data, and post processing the NC code files of robot. And finally fabricate metal parts by welding robot. Compare with other RP methods, it has some features such as higher productivity, can forming larger, dense, metallurgically connected parts. In this dissertation, the principle and the method of WRRP are studied, and the main research contents are as follow: 1. Appropriate welding specifications fit for WRRP using CO2 GMAW has been investigated. 2. The kinematics equations of robot MotoMan UP20-A00 have been constructed for WRRP software programming. 3. According to the welding process features, slicing and path planning strategies has been studied. The software for WRRP has been programmed based on Unigraphics platform; it postprocesses the robot NC code files by slicing and path planning UG part models. 4. Based on the robot remote control API: MotoCom32, the robot forming controlling software has been programmed for forming process control. 5. Several typical parts were formed to illustrate this forming technology. And the affecting factors such as temperature, path overlapped methods and values were investigated and analyzed. 6. The microstructure and Vickers-hardness analysis of the forming parts has been preformed; the effect on material inner structure by WRRP has been investigated. |
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