Purpose

The purpose of this paper is to study the wire and arc additive manufacturing (WAAM) method and path planning algorithm of truss structure parts, to realize the collision-free rapid prototyping of truss structures with complex characteristics.

Design/methodology/approach

First, a point-by-point stacking strategy is proposed based on the spot-welding mode of cold metal transfer welding technology. A force analysis model of the droplet is established, which can be used to adjust the posture of the welding torch and solve the collapse problem in the WAAM process of the truss structure. The collision detection model is developed to calculate the interference size between the truss structure and the welding torch, which is used to control the offset of the welding torch. Finally, the ant colony algorithm has been used to optimize the moving path of welding torch between truss with considering the algorithm efficiency and collision avoiding and the efficiency of the algorithm is improved by discretizing the three-dimensional workspace.

Findings

A series of experiments were conducted to prove the validity of the proposed methods. The results show that the wire feeding speed, welding speed are the important parameters for controlling the WAAM process of truss parts. The inclination angle of the welding torch has an important influence on the forming quality of the truss.

Originality/value

The force analysis model of truss structure in the WAAM process is established to ensure the forming quality and a collision-free path planning algorithm is proposed to improve forming efficiency.

中文翻译：

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基于冷金属过渡技术的桁架结构成形过程控制

目的

本文的目的是研究桁架结构零件的线弧增材制造（WAAM）方法和路径规划算法，实现具有复杂特性的桁架结构的无碰撞快速成型。

设计/方法/方法

首先，基于冷金属转移焊技术的点焊模式，提出了逐点堆叠策略。建立了熔滴受力分析模型，可用于调整焊枪姿态，解决桁架结构WAAM过程中的倒塌问题。建立了碰撞检测模型，计算了桁架结构与焊枪的干涉尺寸，用于控制焊枪的偏移。最后，考虑算法效率和碰撞避免，采用蚁群算法对桁架间焊枪运动路径进行优化，并通过对三维工作空间进行离散化，提高了算法的效率。

发现

进行了一系列实验来证明所提出方法的有效性。结果表明，送丝速度、焊接速度是控制桁架部件WAAM工艺的重要参数。焊枪的倾角对桁架的成型质量有重要影响。

原创性/价值

建立了WAAM过程中桁架结构的受力分析模型，保证了成型质量，提出了一种无碰撞路径规划算法，提高了成型效率。