{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,13]],"date-time":"2026-01-13T22:33:44Z","timestamp":1768343624607,"version":"3.49.0"},"reference-count":30,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2025,5,11]],"date-time":"2025-05-11T00:00:00Z","timestamp":1746921600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program","award":["No. 2024YFB4709401"],"award-info":[{"award-number":["No. 2024YFB4709401"]}]},{"name":"National Key R&amp;D Program","award":["No. LHB-Z23159"],"award-info":[{"award-number":["No. LHB-Z23159"]}]},{"name":"National Key R&amp;D Program","award":["52075121"],"award-info":[{"award-number":["52075121"]}]},{"name":"Heilongjiang Postdoctoral Funded Project","award":["No. 2024YFB4709401"],"award-info":[{"award-number":["No. 2024YFB4709401"]}]},{"name":"Heilongjiang Postdoctoral Funded Project","award":["No. LHB-Z23159"],"award-info":[{"award-number":["No. LHB-Z23159"]}]},{"name":"Heilongjiang Postdoctoral Funded Project","award":["52075121"],"award-info":[{"award-number":["52075121"]}]},{"name":"State Key Laboratory of Advanced Welding and Joining Independent Funded Project","award":["No. 2024YFB4709401"],"award-info":[{"award-number":["No. 2024YFB4709401"]}]},{"name":"State Key Laboratory of Advanced Welding and Joining Independent Funded Project","award":["No. LHB-Z23159"],"award-info":[{"award-number":["No. LHB-Z23159"]}]},{"name":"State Key Laboratory of Advanced Welding and Joining Independent Funded Project","award":["52075121"],"award-info":[{"award-number":["52075121"]}]},{"name":"National Natural Science Foundations of China (NSFC)","award":["No. 2024YFB4709401"],"award-info":[{"award-number":["No. 2024YFB4709401"]}]},{"name":"National Natural Science Foundations of China (NSFC)","award":["No. LHB-Z23159"],"award-info":[{"award-number":["No. LHB-Z23159"]}]},{"name":"National Natural Science Foundations of China (NSFC)","award":["52075121"],"award-info":[{"award-number":["52075121"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>Traditional offline programming has limitations for large parts with significant machining or assembly deviations. This study proposes a 3D scanning-assisted method that generates accurate STereoLithography (STL) models and enables multi-layer multi-bead welding trajectory planning for large intersecting line workpieces. The proposed framework implements a robust STL model processing pipeline incorporating Random Sample Consensus (RANSAC)-based cylindrical approximation, cross-sectional slicing, and automated feature detection to achieve high-precision groove feature recognition. For asymmetric variable-section grooves, a multi-layer and multi-pass path-planning algorithm based on template affine projection transformation is developed to ensure accurate deposition of welds along complex geometric contours. Experimental validation demonstrates sub-millimeter trajectory accuracy (positional errors &lt; 1.0 mm), meeting stringent arc welding specifications and substantially expanding the applicability of offline programming systems.<\/jats:p>","DOI":"10.3390\/sym17050738","type":"journal-article","created":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T03:59:26Z","timestamp":1747108766000},"page":"738","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Handheld 3D Scanning-Based Robotic Trajectory Planning for Multi-Layer Multi-Pass Welding of a Large Intersecting Line Workpiece with Asymmetric Profiles"],"prefix":"10.3390","volume":"17","author":[{"given":"Xinlei","family":"Li","sequence":"first","affiliation":[{"name":"State Key Laboratory of Precision Welding & Joining of Materials and Structures, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Shida","family":"Yao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Precision Welding & Joining of Materials and Structures, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Jiawei","family":"Ma","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Precision Welding & Joining of Materials and Structures, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Guanxin","family":"Chi","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Guangjun","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Precision Welding & Joining of Materials and Structures, Harbin Institute of Technology, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2025,5,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"121","DOI":"10.1016\/j.jmapro.2020.04.043","article-title":"Study on the intelligent model database modeling the laser welding for aerospace aluminum alloy","volume":"63","author":"He","year":"2021","journal-title":"J. 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