Impact & improvement of tool deviation in friction stir welding: Weld quality & real-time compensation on an industrial robot

被引：71
作者：
Guillo, Mario [1 ]
Dubourg, Laurent [1 ]
机构：
[1] Inst Maupertuis, Contour Antoine St Exupery Campus Ker Lann, F-35170 Bruz, France
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2016年 / 39卷
关键词：
Robotic Friction Stir Welding; Industrial robot; Welding process; Robot deviation; Weld quality; Path compensation;
D O I：
10.1016/j.rcim.2015.11.001
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The present study proposes the use of an industrial serial robot to reduce the investment cost and to increase the process flexibility of Friction Stir Welding (FSW). The first part of the study characterizes the impact of pin axis position on FS Weld (FSWed) quality. The second part shows a method to compensate the lateral pin deviation in real-time during Robotic Friction Stir Welding (RFSW). This paper shows that a robot with an embedded real-time algorithm for the compensation of the lateral tool deviation can reproduce the same FSWed quality as a gantry-type CNC system. The elastostatic model of an industrial robot is carried out by the classical identification technique and this is embedded in the robot controller. Based on force measurements along the welding process, the corrected path is calculated in real-time. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：22 / 31
页数：10
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