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Spot-welding path planning method for the curved surface workpiece of body-in-white based on a memetic algorithm

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Abstract

Aiming at the problem of complex path planning in the processing of curved surface workpieces of body-in-white, a hybrid path planning method based on a memetic algorithm is proposed. The method is divided into two parts: welding sequence planning and welding path planning between weld points. By establishing the kinematic model of a spot welding robot based on the pipper criterion and z-y-z Euler angle solution method, the motion constraints of path optimization are analyzed. Under the framework of the memetic algorithm, the improved A-star algorithm with redundant node deletion and a post-smoothing process is used to obtain the smooth collision-free optimal path set between weld points and to construct the objective function of travelling all weld points with the shortest path length and highest smoothness. The multiobjective elitist-simulated annealing genetic algorithm (MESAGA) is used to achieve the welding sequence planning of all weld points. The variable neighborhood search method improves the mutation operator; the elitist strategy is introduced to improve the probability of elitist individual crossover and mutation operation, and a simulated annealing algorithm is used to jump out of local search to obtain the global optimal solution. According to the motion constraints, the joint space path is obtained by the optimal path in Cartesian space. Simulation analysis results demonstrate that the hybrid path planning method based on the memetic algorithm can effectively optimize the path of spot welding robots and lay the foundation for control and trajectory planning during welding processes.

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Acknowledgements

This paper was supported by the National Natural Science Foundation of China (Grant No. 61751304); Jilin Provincial Science and Technology Department (Grant No. 20180201058GX); Jilin Provincial Science and Technology Department (Grant No. 20200301038RQ); Project of Jilin Provincial Development and Reform Commission (Grant No. 2018C037-1); and Jilin Provincial Science and Technology Department (Grant No. 20200401114G X).

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun, 130012, China

    Hang Zhao, Bangcheng Zhang, Jianwei Sun & Haiyue Yu

  2. Welding and Assembly Development Department, AW Tooling Die Manufacturing CO., LTD., Changchun, 130013, China

    Lei Yang

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  1. Hang Zhao
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Hang Zhao designed and drafted the manuscript. Bangcheng Zhang supervised this study. Jianwei Sun organized the paper and edited the manuscript. Lei Yang and Haiyue Yu conceived the project. All authors read and approved the manuscript.

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Correspondence to Bangcheng Zhang.

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Zhao, H., Zhang, B., Sun, J. et al. Spot-welding path planning method for the curved surface workpiece of body-in-white based on a memetic algorithm. Int J Adv Manuf Technol 117, 3083–3100 (2021). https://doi.org/10.1007/s00170-021-07728-6

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