Fabrizio Tirapelle
Study and Development of a Laser Welding Robotic Cell with Seam Teaching and Seam Tracking Capabilities.
Rel. Alessandro Rizzo. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2019
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Abstract
This Master's Thesis deals with the study and development of a laser welding robotic cell, carried out at SM System S.r.l. The goal of the project was to design a robotic cell able to perform laser welding on small-to-medium quantities of different products; fexibility and reliability were the main objectives. In order to achieve the required performances, each subsystem of the cell was designed on the basis of the state of the art: laser welding technologies were investigated for finding the most suitable welding laser for the application; visual servoing algorithms were introduced to increase flexibility in following different seam trajectories; seam-teaching and seam-tracking concepts were extracted from the literature and applied to the concrete case; robot modeling was performed and simulations were carried out to test the robustness of the system.
The Thesis is structured to cover all these topics, providing the main theoretical concepts underlying the design choices made during the development of the cell at the SM System S.r.l
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