| Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures | |
| Wu JF(武加锋); Zhang, Rui; Yang GX(杨广新) | |
| Department | 空间自动化技术研究室 |
| Source Publication | Industrial Robot
 |
| ISSN | 0143-991X |
| 2015 | |
| Volume | 42Issue:4Pages:332-338 |
| Indexed By | SCI ; EI |
| EI Accession number | 20152500951021 |
| WOS ID | WOS:000357392900007 |
| Contribution Rank | 2 |
| Keyword | Friction Stir Welding Heavy Robot Design Large-scale Complex Structures |
| Abstract | 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. |
| Language | 英语 |
| WOS Headings | Science & Technology ; Technology |
| WOS Subject | Engineering, Industrial ; Robotics |
| WOS Keyword | LOCALIZATION ; ALGORITHMS |
| WOS Research Area | Engineering ; Robotics |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/16185 |
| Collection | 空间自动化技术研究室 |
| Corresponding Author | Wu JF(武加锋) |
| Affiliation | 1.School of Petroleum Engineering, China University of Petroleum, Qingdao, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| Recommended Citation GB/T 7714 | Wu JF,Zhang, Rui,Yang GX. Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures[J]. Industrial Robot,2015,42(4):332-338. |
| APA | Wu JF,Zhang, Rui,&Yang GX.(2015).Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures.Industrial Robot,42(4),332-338. |
| MLA | Wu JF,et al."Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures".Industrial Robot 42.4(2015):332-338. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Design and experimen（345KB） | 期刊论文 | 出版稿 | 开放获取 | ODC PDDL | View Application Full Text | |
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