Publications Details
Capacitive sensor for high resolution weld seam tracking
A non-contact capacitive sensing system has been developed for guiding automated welding equipment along typical v-groove geometries. The Multi-Axis Seam Tracking (MAST) sensor has been designed to produce four electric fields for locating and measuring the v-groove geometry. In this system, the MAST sensor is coupled with a set of signal conditioning electronics making it possible to output four varying voltages proportional to the electric field perturbations. This output is used for motion control purposes by the automated welding platform to guide the weld torch directly over the center of the v-groove. This report discusses the development of this capacitive sensing system. A functional description of the system and MAST sensor response characteristics for typical weld v-groove geometries are provided. The effects of the harsh thermal and electrical noise environments of plasma arc welding on sensor performance are discussed. A comparison of MAST sensor fabrication from glass-epoxy and thick-film ceramic substrates is provided. Finally, results of v-groove tracking experiments on a robotic welding platform are described.