Abstract

The response of the arc sensor using the welding current and/or welding voltage as its outputs has been obtained by the analysis and/or experiments of the static characteristics of arc sensor. But in order to improve the reliability of arc sensor, it is necessary to know its dynamic characteristics. So in this paper, it is presented the dynamic model of arc sensor including the power source, arc voltage, electrode burnoff rate, and wire feed rate. A numerical simulation of the dynamic model of arc sensor was implemented, computing the welding current with input of CTWD. The results of computer simulations and experiments of $CO_2$arc welding showed that a linear relationship between weaving center - weld line distance and current area difference was established. Additionally, a real-time weld seam tracking system interfaced with industrial welding robot was constructed, the result of the weld seam tracking experiment for weld line with an initial offset error of 5$^{\circ}$was good.

Keywords

• $CO_2$Arc Welding;
• Arc Sensor;
• Contact Tube to Workpiece Distance;
• Seam Tracking;
• Current Area Difference Method;
• Moving Average Method;
• Weighted Factor;
• Flat Fillet Welding;
• CTWD

• 탄산가스 아크 용접;
• 아크 센서;
• 팁 -모재간 거리;
• 용접선 추적;
• 전류 면적 차이법;
• 이동평균법;
• 가중치;
• 플렛 필릿 용접;