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WAAMSIM

WAAMSIM is a  simulation software capable of predicting and animating KUKA robot movement and welded bead deposition using inverse kinematics and bead surface energy calculations.

Animation

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Process

Denavit-Hartenberg Parameters

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Simulation

Bead Deposition

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Wang, Z. et al. (2021) ‘Prediction of bead geometry with consideration of interlayer temperature effect for CMT-based wire-arc additive manufacturing’, Welding in the World, 65(12), pp. 2255–2266. doi:10.1007/s40194-021-01192-2.

Animation

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