The weaving welding process is a key method used to improve the welding quality in multi-layer and multi-pass welding processes using robots. However, the heat-input fluctuation in the weaving welding process restricts its development. In this paper, we developed a novel weaving welding control algorithm to maintain a constant weld heat input through velocity adaptive planning. First, the heat consumption during the weaving welding was modeled to describe the influence of weaving parameters on the weld heat input. Then, based on the obtained relationship between the weld heat input and the weaving parameters, a velocity-adaptive trajectory planning strategy was proposed by leveraging the transformation matrix derived from the relationship between the workpiece and the robot co-ordinate systems. The simulation and experimental results show that the proposed strategy can compensate for the weaving parameters to maintain a constant heat input based on heat consumption and improve the quality of the robotic multi-layer and multi-pass welding process.
Keywords: constant heat input; multi-pass weld; velocity-adaptive trajectory planning algorithm; weaving weld.