Off-line path programming for three-dimensional robotic friction stir welding based on Bézier curves

Purpose Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during the welding, because of the high forces induced by the process. This leads to tool deviation and incorrect orientation. There is currently no computer-aided manufacturing/computer-aided design (CAD) software for generating off-line paths which integrates robot deflections, and the main purpose of this study is to propose an off-line methodology to plan a path for RFSW with the integration of the deflections. Design/methodology/approach The approach is divided into two steps. The first step consists of extracting position and orientation data from CAD models of the workpieces and adding the deflections calculated with a deflection model to generate a suitable path for performing RFSW. The second step consists of the smooth fitting of the suitable path using Bézier curves. Findings The method is experimentally validated by welding a curved workpiece using a Kuka KR500-2MT robot. A suitable tool position and orientation were calculated to perform this welding, an experimental procedure was set up, a defect-free weld was performed and a high accuracy was achieved in terms of position and orientation. Practical implications This method can help manufacturers to easily perform RFSW for three-dimensional workpieces regardless of the lateral tool deviation, loss of the right orientation and control force stability. Originality/value The originality of this method lies in compensating for robot deflections without using expensive sensors, which is the most commonly used method for compensating for robot deflection. This off-line method can lead to a reduction in programming time in comparison with teach programming method and leads to reduced investment costs in comparison with commercial off-line programming packages.

Robotic Friction Stir Welding of AA5754 Aluminum Alloy Sheets at Different Initial Temper States

Robotic friction stir welding experiments were performed on AA5754 aluminium alloy sheets, 2.5 mm in thickness, in two different temper states (H111 and O-annealed). A six axes robot with a hybrid structure, characterised by an arm with parallel kinematics and a roll-pitch-roll wrist with serial kinematics, was used. The effect of the process parameters on the macro-and micro-mechanical properties and microstructure of joints was widely analysed. It was shown that, under the same process condition, the mechanical properties of the joints are strongly influenced by the initial temper state of the alloy. In particular, as AA5754-H111 is welded, the ultimate tensile strength is not significantly affected by the process parameters whilst the ultimate elongation significantly depends on the welding speed. In AA5754-O, both ultimate values of tensile strength and elongation are affected by the welding speed whilst a negligible effect of the rotational speed can be observed. Irrespective of the welding parameters, the H111 temper state leads to mechanical properties higher than those given by the O-annealed state. An investigation has been also carried out in order to evaluate the micro-hardness profiles and microstructure of the FSWed joints in order to understand the mechanisms operating during robotic friction stir welding.

Deflection model for robotic friction stir welding

Purpose – This paper aims to present a deflection model to improve positional accuracy of industrial robots. Earlier studies have demonstrated the lack of accuracy of heavy-duty robots when exposed to high external forces. One application where the robot is pushed to its limits in terms of forces is friction stir welding (FSW). This process requires the robot to deliver forces of several kilonewtons causing deflections in the robot joints. Especially for robots with serial kinematics, these deflections will result in significant tool deviations, leading to inferior weld quality. Design/methodology/approach – This paper presents a kinematic deflection model, assuming a rigid link and flexible joint serial kinematics robot. As robotic FSW is a process which involves high external loads and a constant welding speed of usually below 50 mm/s, many of the dynamic effects are negligible. The model uses force feedback from a force sensor, embedded on the robot, and predicts the tool deviation, based on the measured external forces. The deviation is fed back to the robot controller and used for online path compensation. Findings – The model is verified by subjecting an FSW tool to an external load and moving it along a path, with and without deviation compensation. The measured tool deviation with compensation was within the allowable tolerance for FSW. Practical implications – The model can be applied to other robots with a force sensor. Originality/value – The presented deflection model is based on force feedback and can predict and compensate tool deviations online.