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Measurement based robot cutting as preparation for welding tubular connections


In the production of offshore tubular connections, the cutting process is an important factor. Undefined root gaps between the individual pipe connections require time-consuming reworking and increased welding effort, resulting in longer production times and higher costs. The developed procedure is based on the 3D measurement of the pipes in order to consider the real geometries in the planning of the cutting process and to optimize the following joining process by adapting the root gap all over the tubular connection and to get a constant seam cross section. The basic concept is to build the planned connection virtually with the measured and real pipe geometries and to plan the flame cutting process including weld seam preparation on the base of the result. For the measurement in the production environment, a suitable measuring concept was developed to return the results directly into the cutting process with the robot. This is the base for the automation of the tubular connection production.


  • offshore structures
  • sensor-based programming
  • path planning
  • robotic cutting


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Correspondence to Sascha Lauer .

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Lauer, S., Ambrosat, T., Wanner, MC., Flügge, W. (2020). Measurement based robot cutting as preparation for welding tubular connections. In: Schüppstuhl, T., Tracht, K., Henrich, D. (eds) Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Springer Vieweg, Berlin, Heidelberg.

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