Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures. Issue 4 (15th June 2015)

• Record Type: Journal Article
• Authors: Wu, Jiafeng; Zhang, Rui; Yang, Guangxin
• Is Part Of: Industrial robot. Volume 42:Issue 4(2015)
• Page Start: 332
• Page End: 338
• Publication Date: 2015-06-15
• Subjects: Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-01-2015-0009
• Languages: English
• ISSNs: 0143-991X

Abstract

<abstract> <title> <x content-type="archive" xml:space="preserve">Abstract</x> </title> <sec> <title content-type="abstract-heading">Purpose</title> <p> – This paper aims to present a new friction-stir-weld robot for large-scale complex surface structures, which has high stiffness and good flexibility. </p> </sec> <sec> <title content-type="abstract-heading">Design/methodology/approach</title> <p> – The robot system is designed according to manufacturability of large aluminum products in aeronautic and astronautic area. The kinematic model of the robot is established, and a welding trajectory planning method is also developed and verified by experiments. </p> </sec> <sec> <title content-type="abstract-heading">Findings</title> <p> – Experimental results show that the robot system can meet the requirements of friction stir welding (FSW) for large-scale complex surface structures. </p> </sec> <sec> <title content-type="abstract-heading">Practical implications</title> <p> – Compared with other heavy robotic arm and machine tool welding devices, this robot has better working quality and capability, which can greatly improve the manufacturability for large-scale complex surface structures. </p> </sec> <sec> <title content-type="abstract-heading">Originality/value</title> <p> – The friction-stir-weld robot system is a novel solution for welding large-scale complex surface structures. Its major advantages are the high stiffness, good flexibility and high precision of the robot body, which can meet the requirements of FSW. Besides, a welding trajectory planning method based on iterative closest point (ICP) algorithm is used for welding trajectory.</p> </sec> </abstract>