Free Robot Welder Could Cut Factory Costs and Boost Safety
This open-source robot framework might make welding cheaper and safer for everyone.
hold_and_weld is an open-source ROS 2 framework for dual-arm robotic welding. The goal is to reduce reliance on dedicated welding fixtures by using one robot to grip and hold the workpiece while another welds it. The grasping and welding components can also be used independently.
The framework combines constraint-aware grasp sampling, weld seam extraction from CAD and mesh geometry, and motion planning with MoveIt 2. It targets ROS 2 Jazzy on Ubuntu 24.04, and it is currently a proof of concept demonstrated in simulation.
The repository includes unit tests, and the complete workflow has been demonstrated in simulation but has not yet been validated through physical welding trials. The author is actively working toward a hardware demonstration, and the roadmap outlines planned development. Installation instructions, usage examples, package documentation, and a guide for adding robot and gripper models are included.
- Two robot arms work together: one holds the metal, the other welds, so no custom fixtures are needed.
- The software is open source and free, but currently only works in computer simulations.
- If successful, it could reduce costs and improve safety in manufacturing and welding jobs.
Why It Matters
Could make welding cheaper and safer, benefiting factories, workers, and consumers.