Proposal to the Use of Cooperative Robots in Additive Manufacturing Based on the GMAW-P Process

The possibility of integrating manufacturing systems with the use of robots provides flexibility in production, in addition to ensuring flexibility, repeatability, quality and accuracy. In the same manufacturing cell, the manipulators who cooperate in execution of the activity, perform actions that occur in coordinated manner to ensure the accomplishment of tasks, such as when you want to produce a part that has a certain degree of complexity and that requires changes in position and orientation, in addition to the dimension and weight to be manipulated. The use of this manipulator technique in Additive Manufacturing comes from the ability to adapt to task variations and be flexible enough to guarantee the dynamics of operations. Based on off-line programming which is a strategy to minimize setup time and generation of trajectories. This work presents a proposal for the integration of two industrial robotic manipulators with different control systems, one of which had its control based on a low-cost architecture and both allow freedom in the construction of parts generated from a CAD-3D model. The manipulation, in addition to ensuring the synchronism of the movements between the robots, allowed to minimize dimensional defects such as the ramp effect.