<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04915144</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-17T00:43:44+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">A method for analyzing the kinematic influence of a robot on the WAAM process</title>
            <author role="aut">
              <persName>
                <forename type="first">Antoine</forename>
                <surname>Baccomo</surname>
              </persName>
              <email type="md5">875f3d68fa2d1d619eefa7364708f4e0</email>
              <email type="domain">sigma-clermont.fr</email>
              <idno type="idhal" notation="numeric">1441616</idno>
              <idno type="halauthorid" notation="string">3297100-1441616</idno>
              <affiliation ref="#struct-1063693"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Hélène</forename>
                <surname>Chanal</surname>
              </persName>
              <email type="md5">dabcb0b5a805c195d58e37f1d765afbe</email>
              <email type="domain">sigma-clermont.fr</email>
              <idno type="idhal" notation="string">helene-chanal</idno>
              <idno type="idhal" notation="numeric">16352</idno>
              <idno type="halauthorid" notation="string">29726-16352</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-5738-7195</idno>
              <idno type="IDREF">https://www.idref.fr/109964128</idno>
              <affiliation ref="#struct-1063693"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Emmanuel</forename>
                <surname>Duc</surname>
              </persName>
              <email type="md5">b2bf86d1c19b26bba5583f260725dc5c</email>
              <email type="domain">ifma.fr</email>
              <idno type="idhal" notation="string">emmanuel-duc</idno>
              <idno type="idhal" notation="numeric">174868</idno>
              <idno type="halauthorid" notation="string">42489-174868</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5893-0396</idno>
              <affiliation ref="#struct-1063693"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Maxime</forename>
                <surname>Limousin</surname>
              </persName>
              <email type="md5">6b94868dc20e43aaf6ae77e252b17a22</email>
              <email type="domain">cea.fr</email>
              <idno type="idhal" notation="numeric">1497821</idno>
              <idno type="halauthorid" notation="string">2022129-1497821</idno>
              <affiliation ref="#struct-1043137"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Hélène</forename>
                <surname>Chanal</surname>
              </persName>
              <email type="md5">dabcb0b5a805c195d58e37f1d765afbe</email>
              <email type="domain">sigma-clermont.fr</email>
            </editor>
            <funder>The work presented in this article is financed by the Région Auvergne Rhône Alpes as part of the CraFT project.</funder>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2025-01-27 17:30:32</date>
              <date type="whenModified">2025-09-27 20:05:03</date>
              <date type="whenReleased">2025-01-29 12:02:31</date>
              <date type="whenProduced">2025-01-27</date>
              <date type="whenEndEmbargoed">2025-07-29</date>
              <ref type="file" target="https://uca.hal.science/hal-04915144v1/document">
                <date notBefore="2025-07-29"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://uca.hal.science/hal-04915144v1/file/article__Copy_%20%281%29.pdf" id="file-4915144-4269993">
                <date notBefore="2025-07-29"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="72651">
                <persName>
                  <forename>Hélène</forename>
                  <surname>Chanal</surname>
                </persName>
                <email type="md5">dabcb0b5a805c195d58e37f1d765afbe</email>
                <email type="domain">sigma-clermont.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04915144</idno>
            <idno type="halUri">https://uca.hal.science/hal-04915144</idno>
            <idno type="halBibtex">baccomo:hal-04915144</idno>
            <idno type="halRefHtml">&lt;i&gt;International Journal of Advanced Manufacturing Technology&lt;/i&gt;, 2025, &lt;a target="_blank" href="https://dx.doi.org/10.1007/s00170-025-15057-1"&gt;&amp;#x27E8;10.1007/s00170-025-15057-1&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">International Journal of Advanced Manufacturing Technology, 2025, &amp;#x27E8;10.1007/s00170-025-15057-1&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://creativecommons.org/licenses/by/4.0/">CC BY 4.0 - Attribution<ref corresp="#file-4915144-4269993"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UGA">HAL Grenoble Alpes</idno>
            <idno type="stamp" n="PRES_CLERMONT">Université de Clermont</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-BPCLERMONT" corresp="PRES_CLERMONT">Université Blaise Pascal - Clermont-Ferrand II</idno>
            <idno type="stamp" n="INPG">Institut polytechnique de Grenoble</idno>
            <idno type="stamp" n="G-SCOP">LABORATOIRE G-SCOP</idno>
            <idno type="stamp" n="INSTITUT_PASCAL" corresp="PRES_CLERMONT">Institut Pascal</idno>
            <idno type="stamp" n="ACL-SPI" corresp="PRES_CLERMONT">ACL en SPI</idno>
            <idno type="stamp" n="UGA-EPE">Université Grenoble Alpes [2020-*]</idno>
            <idno type="stamp" n="CLERMONT-AUVERGNE-INP">Clermont Auvergne INP</idno>
            <idno type="stamp" n="TEST-UGA">TEST-UGA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">A method for analyzing the kinematic influence of a robot on the WAAM process</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Antoine</forename>
                    <surname>Baccomo</surname>
                  </persName>
                  <email type="md5">875f3d68fa2d1d619eefa7364708f4e0</email>
                  <email type="domain">sigma-clermont.fr</email>
                  <idno type="idhal" notation="numeric">1441616</idno>
                  <idno type="halauthorid" notation="string">3297100-1441616</idno>
                  <affiliation ref="#struct-1063693"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Hélène</forename>
                    <surname>Chanal</surname>
                  </persName>
                  <email type="md5">dabcb0b5a805c195d58e37f1d765afbe</email>
                  <email type="domain">sigma-clermont.fr</email>
                  <idno type="idhal" notation="string">helene-chanal</idno>
                  <idno type="idhal" notation="numeric">16352</idno>
                  <idno type="halauthorid" notation="string">29726-16352</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-5738-7195</idno>
                  <idno type="IDREF">https://www.idref.fr/109964128</idno>
                  <affiliation ref="#struct-1063693"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Emmanuel</forename>
                    <surname>Duc</surname>
                  </persName>
                  <email type="md5">b2bf86d1c19b26bba5583f260725dc5c</email>
                  <email type="domain">ifma.fr</email>
                  <idno type="idhal" notation="string">emmanuel-duc</idno>
                  <idno type="idhal" notation="numeric">174868</idno>
                  <idno type="halauthorid" notation="string">42489-174868</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5893-0396</idno>
                  <affiliation ref="#struct-1063693"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Maxime</forename>
                    <surname>Limousin</surname>
                  </persName>
                  <email type="md5">6b94868dc20e43aaf6ae77e252b17a22</email>
                  <email type="domain">cea.fr</email>
                  <idno type="idhal" notation="numeric">1497821</idno>
                  <idno type="halauthorid" notation="string">2022129-1497821</idno>
                  <affiliation ref="#struct-1043137"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">14326</idno>
                <idno type="issn">0268-3768</idno>
                <idno type="eissn">1433-3015</idno>
                <title level="j">International Journal of Advanced Manufacturing Technology</title>
                <imprint>
                  <publisher>Springer Verlag</publisher>
                  <date type="datePub">2025-01-27</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1007/s00170-025-15057-1</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Robotic additive manufacturing</term>
                <term xml:lang="en">WAAM</term>
                <term xml:lang="en">tool path</term>
                <term xml:lang="en">kinematic model</term>
                <term xml:lang="en">qualification test</term>
              </keywords>
              <classCode scheme="halDomain" n="spi">Engineering Sciences [physics]</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>This article propose a method to analyze the kinematic behavior of a robotic cell during a tool path following. This methodology is applied to a WAAM robotic cell to study the manufacturing of single-wall, tubing-type parts with a robotic WAAM process. Initial feedback shows deposit defects. The objective of the study is to identify the impact of the robot behavior on the observed defects on the manufactured part and to propose a test protocol to validate the consistency of the robot kinematic behavior with the requirements of the WAAM process. Thus, the main problem lies in measuring and estimating the deposition feed rate of the torch relative to the part. To accomplish this, it is necessary to first establish the geometric model of the robot before determining its kinematic model. This model enables the calculation of the torch speed in the part reference frame based on the measurement of the robot axis angular speeds. Analyses reveal variations in the torch feed rate that correlate with the defects observed in the manufactured part. This work is completed by a theoretical analysis allowing conclusions on the capacity of the manufacturing cell to follow a program deposition speed. Finally, the proposed studies lead to develop a protocol for testing the kinematic behavior of a robotic cell for WAAM processes.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-1063693" status="VALID">
          <idno type="IdRef">162152442</idno>
          <idno type="RNSR">199412376H</idno>
          <idno type="ROR">https://ror.org/03vgfxd91</idno>
          <orgName>Institut Pascal</orgName>
          <orgName type="acronym">IP</orgName>
          <date type="start">2021-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Universitaire des Cézeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubière Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.institutpascal.uca.fr/</ref>
          </desc>
          <listRelation>
            <relation name="UMR6602" active="#struct-441569" type="direct"/>
            <relation name="UMR6602" active="#struct-1063463" type="direct"/>
            <relation name="UMR6602" active="#struct-1063539" type="direct"/>
            <relation active="#struct-1063463" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-1043137" status="VALID">
          <idno type="IdRef">120293080</idno>
          <idno type="ISNI">0000 0004 7645 579X</idno>
          <idno type="RNSR">200919221H</idno>
          <idno type="ROR">00rv5x925</idno>
          <orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName>
          <orgName type="acronym">G-SCOP</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>GSCOP, Laboratoire des Sciences pour la Conception, l'Optimisation et la Production de Grenoble, UMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.g-scop.grenoble-inp.fr/</ref>
          </desc>
          <listRelation>
            <relation name="UMR5272" active="#struct-441569" type="direct"/>
            <relation active="#struct-1042703" type="direct"/>
            <relation active="#struct-1043329" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-1063463" status="VALID">
          <idno type="IdRef">252404955</idno>
          <idno type="ISNI">0000000115480420</idno>
          <idno type="ROR">https://ror.org/01a8ajp46</idno>
          <orgName>Université Clermont Auvergne</orgName>
          <orgName type="acronym">UCA</orgName>
          <date type="start">2021-01-01</date>
          <desc>
            <address>
              <addrLine>49, bd François-Mitterrand / CS 60032 / 63001 Clermont-Ferrand Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.uca.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-1063539" status="VALID">
          <idno type="IdRef">252428943</idno>
          <orgName>Institut national polytechnique Clermont Auvergne</orgName>
          <orgName type="acronym">INP Clermont Auvergne</orgName>
          <date type="start">2021-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-1063463" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-1042703" status="VALID">
          <idno type="IdRef">240648315</idno>
          <idno type="ROR">https://ror.org/02rx3b187</idno>
          <orgName>Université Grenoble Alpes</orgName>
          <orgName type="acronym">UGA</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>Adresse CS 40700 - 38058 Grenoble cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-grenoble-alpes.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-1043329" status="VALID">
          <idno type="IdRef">026388804</idno>
          <idno type="ROR">https://ror.org/05sbt2524</idno>
          <orgName>Institut polytechnique de Grenoble - Grenoble Institute of Technology</orgName>
          <orgName type="acronym">Grenoble INP</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.grenoble-inp.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1042703" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>