A cooperative effort is under way to develop and implement a flexible and adaptive robotic GTA (Gas Tungsten Arc) welding system. The prototype system outlined in this paper utilizes techniques not currently incorporated in commercially available manufacturing robot systems. This sensor-based robot system will be used to weld portions of the Space Shuttle Main Engine (SSME), a low-volume, high precision task. A variety of separately developed components are integrated with a Cybotech H80 articulated robot, including a customized user interface in the robot workcell, off-line programming of motion and process commands, penetration sensors, and vision system (both two- and three-dimensional). NASA's Marshall Space Flight Center is directing the effort, with Rocketdyne Division of Rockwell International as prime contractor and Rockwell International Science Center as additional support. This paper briefly described each component and discusses the integration details of the initial development system.
Adaptive robotic GTA welding for the SSME: An integrated system
Adaptives Roboter-Wolframgaslichtbogenschweissen fuer das Raumfaehren-Haupttriebwerk: Integriertes System
Technical Paper. Society of Manufacturing Engineers ; Apr ; 1-12
1987
12 Seiten, 9 Bilder, 8 Quellen
Conference paper
English