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Open AccessArticle
Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles
by
Xinlei Li
Xinlei Li
Shida Yao
Shida Yao
Jiawei Ma
Jiawei Ma
Guanxin Chi
Guanxin Chi
Guangjun Zhang
Guangjun Zhang
1
State Key Laboratory of Precision Welding & Joining of Materials and Structures, Harbin Institute of Technology, Harbin 150001, China
2
School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Symmetry 2025, 17(5), 738; https://doi.org/10.3390/sym17050738 (registering DOI)
Submission received: 15 April 2025
/
Revised: 1 May 2025
/
Accepted: 7 May 2025
/
Published: 11 May 2025
Abstract
Traditional offline programming has limitations for large parts with significant machining or assembly deviations. This study proposes a 3D scanning-assisted method that generates accurate STereoLithography (STL) models and enables multi-layer multi-bead welding trajectory planning for large intersecting line workpieces. The proposed framework implements a robust STL model processing pipeline incorporating Random Sample Consensus (RANSAC)-based cylindrical approximation, cross-sectional slicing, and automated feature detection to achieve high-precision groove feature recognition. For asymmetric variable-section grooves, a multi-layer and multi-pass path-planning algorithm based on template affine projection transformation is developed to ensure accurate deposition of welds along complex geometric contours. Experimental validation demonstrates sub-millimeter trajectory accuracy (positional errors < 1.0 mm), meeting stringent arc welding specifications and substantially expanding the applicability of offline programming systems.
Share and Cite
MDPI and ACS Style
Li, X.; Yao, S.; Ma, J.; Chi, G.; Zhang, G.
Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles. Symmetry 2025, 17, 738.
https://doi.org/10.3390/sym17050738
AMA Style
Li X, Yao S, Ma J, Chi G, Zhang G.
Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles. Symmetry. 2025; 17(5):738.
https://doi.org/10.3390/sym17050738
Chicago/Turabian Style
Li, Xinlei, Shida Yao, Jiawei Ma, Guanxin Chi, and Guangjun Zhang.
2025. "Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles" Symmetry 17, no. 5: 738.
https://doi.org/10.3390/sym17050738
APA Style
Li, X., Yao, S., Ma, J., Chi, G., & Zhang, G.
(2025). Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles. Symmetry, 17(5), 738.
https://doi.org/10.3390/sym17050738
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