Politecnico di Torino (logo)

Study and Development of a Laser Welding Robotic Cell with Seam Teaching and Seam Tracking Capabilities

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

PDF (Tesi_di_laurea) - Tesi
Licenza: Creative Commons Attribution Non-commercial No Derivatives.

Download (25MB) | Preview

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. company. Chapter 1 provides an insight on the welding process, on laser concepts and on their combination: laser welding. Chapter 2 introduces the concepts of visual servoing, used in the cell to provide visual feedback to the robot during its operations. Chapter 3 deals with the problem of seam-teaching and seam-tracking, that was investigated starting from the extensive collection of literature existing on the topic. Eventually, Chapter 4 thoroughly analyzes the laser welding robotic cell by SM System S.r.l. in all its parts, explains how the previous concepts were applied to the practical application, and describes the various design, programming and testing phases that were carried out during the development process.

Relators: Alessandro Rizzo
Academic year: 2019/20
Publication type: Electronic
Number of Pages: 104
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: SM SYSTEM SRL
URI: http://webthesis.biblio.polito.it/id/eprint/12510
Modify record (reserved for operators) Modify record (reserved for operators)