Title: Theoretical and experimental analysis of a hybrid industrial robot used for friction stir welding

Authors: Matteo Palpacelli; Massimo Callegari; Luca Carbonari; Giacomo Palmieri

Addresses: DIISM Department, Polytechnic University of Marche, Ancona (AN), Italy ' DIISM Department, Polytechnic University of Marche, Ancona (AN), Italy ' Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova (GE), Italy ' Faculty of Engineering, eCampus University, Novedrate (CO), Italy

Abstract: This paper highlights the main aspects involved in the process of friction stir welding (FSW) realised by means of a robotic manufacturing workstation, showing the outcomes of theoretical and experimental analyses. The cell is equipped with a hybrid industrial robot, whose static performance is successfully exploited for the realisation of welding products with high mechanical properties. The robot flexibility of use is addressed. Several tests allow to gain a deeper understanding of the effect of technological parameters on FSW processes. Such information can be used for the development of model-based controllers, which are assumed to effectively improve accuracy and process stability also in the welding of complex geometries.

Keywords: parallel robots; friction stir welding; FSW; static analysis; robotic workstations; hybrid industrial robots; robot welding; robot flexibility; model-based control.

DOI: 10.1504/IJMMS.2015.073571

International Journal of Mechatronics and Manufacturing Systems, 2015 Vol.8 No.5/6, pp.258 - 275

Received: 23 Feb 2015
Accepted: 19 Sep 2015

Published online: 12 Dec 2015 *

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