Comparison of robot morphologies and base positioning for welding applications

TL;DR

This paper compares PUMA-type and UR-type robot morphologies for welding tasks, analyzing their performance, base positioning, collision risks, and practical implications to optimize robotic welding efficiency.

Contribution

It provides a comprehensive comparison of robot morphologies and base positions for welding, including collision analysis and practical case studies, which is novel in robotic welding research.

Findings

PUMA-type and UR-type robots show different performance profiles in welding tasks.

Optimal base positioning significantly impacts welding efficiency and collision risk.

The study offers practical guidelines for robot selection and placement in welding applications.

Abstract

This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis is to assess their respective performances within the specialized domain of welding, focusing on predefined industrial application scenarios. These scenarios encompass a range of geometrical components earmarked for welding, along with specified welding paths, spatial constraints, and welding methodologies reflective of real-world scenarios encountered by manual welders. The case studies presented in this research serve as illustrative examples of Weez-U Welding practices, providing insights into the practical implications of employing different robot morphologies. Moreover, this study distinguishes between various base positions for the robot, thereby aiding welders in selecting the optimal base placement aligned with their specific welding objectives. By offering such insights, this research facilitates the selection of the most suitable architecture for this particular range of trajectories, thus optimizing welding efficiency and effectiveness. A departure from conventional methodologies, this study goes beyond merely considering singularities and also delves into the analysis of collisions between the robot and its environment, contingent upon the robot's posture. This holistic approach offers a more nuanced understanding of the challenges and considerations inherent in deploying robotic welding systems, providing valuable insights for practitioners and researchers alike in the field of robotic welding technology.