"Robotic Welding and Inspection System"



Smartt, H. B., D. P. Pace, E. D. Larsen, T. R. McJunkin, C. I. Nichol, D. E. Clark,
K. L. Skinner, M. L. Clark, T. G. Kaser and C. R. Tolle



Trends In Welding Research Conference, Pine Mountain, Georgia, June 2008



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Abstract



This paper presents a robotic system for GTA welding of lids on cylindrical vessels. The system consists of an articulated robot arm, a rotating positioner, end effectors for welding, grinding, ultrasonic and eddy current inspection. Features include weld viewing cameras, modular software, and text- based procedural files for process and motion trajectories.