Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures
Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures
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DOI：
10.1108/ir-01-2015-0009
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发表时间：
2015-06
期刊：
影响因子：
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通讯作者：
Jiafeng Wu;Rui Zhang;Guangxin Yang
中科院分区：
文献类型：
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作者：
Jiafeng Wu;Rui Zhang;Guangxin Yang
目的：提出一种新型搅拌摩擦焊接机器人，用于大型复杂曲面结构的搅拌摩擦焊接，具有较高的刚性和较好的柔韧性。设计/方法/方法-机器人系统是根据航空航天领域大型铝产品的可制造性而设计的。建立了机器人的运动学模型，提出了焊接轨迹规划方法，并进行了实验验证。实验结果表明，该机器人系统能够满足大型复杂表面结构搅拌摩擦焊的要求。实践意义-与其他重型机械臂和机床焊接设备相比，该机器人具有更好的工作质量和能力，可以极大地提高大型复杂曲面结构的可制造性。创意/价值-搅拌摩擦焊接机器人系统是一种新型的焊接大型复杂表面结构的解决方案。它的主要优点是硬度高。
Purpose – This paper aims to present a new friction-stir-weld robot for large-scale complex surface structures, which has high stiffness and good flexibility. Design/methodology/approach – 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. Findings – Experimental results show that the robot system can meet the requirements of friction stir welding (FSW) for large-scale complex surface structures. Practical implications – 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. Originality/value – The friction-stir-weld robot system is a novel solution for welding large-scale complex surface structures. Its major advantages are the high stiffn...