Desarrollo de un planificador de trayectoria para un brazo robot en CELEC EP Hidroagoyán para el proceso de soldadura de álabes de turbinas desgastadas tipo Pelton a partir de modelos 3d generados mediante un escáner

Abstract

This degree work develops an integral methodology for the programming of a KUKA robotic arm, in order to perform welding processes in Pelton turbines that present abrasion wear. For this purpose, a geometric survey of the turbine is implemented by means of 3D scanning, which allows obtaining an accurate and detailed model of the surface to be repaired. From this digital geometry, optimal welding trajectories are generated using the Grasshopper parametric programming environment in conjunction with the KUKA|prc add-on, ensuring precise control over the robot's movements and the quality of the weld bead. In addition, the KUKA.ArcTech package is integrated for the management of the electric arc parameters and the synchronization of the activation and deactivation of the MIG welding process. The proposed methodology seeks to optimize repair times and ensure greater accuracy in industrial maintenance applications, thus contributing to the extension of the lifetime of critical components in hydroelectric power plants.