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题名: Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures
作者: Wu JF(武加锋); Zhang, Rui; Yang GX(杨广新)
作者部门: 空间自动化技术研究室
关键词: Friction stir welding ; Heavy robot design ; Large-scale complex structures
刊名: Industrial Robot
ISSN号: 0143-991X
出版日期: 2015
卷号: 42, 期号:4, 页码:332-338
收录类别: SCI ; EI
产权排序: 2
摘要: 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 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.
语种: 英语
WOS记录号: WOS:000357392900007
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Industrial ; Robotics
关键词[WOS]: LOCALIZATION ; ALGORITHMS
研究领域[WOS]: Engineering ; Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/16185
Appears in Collections:空间自动化技术研究室_期刊论文

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文件名: Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures.pdf
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