Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Investigation of path compensation methods for robotic friction stir welding
University West, Department of Engineering Science, Division of Electrical and Automation Engineering. (PTW)ORCID iD: 0000-0001-9553-7131
University West, Department of Engineering Science, Division of Process and Product Development. (PTW)ORCID iD: 0000-0001-5608-8636
University West, Department of Engineering Science. (PTW)
University West, Department of Engineering Science, Division of Automation and Computer Engineering. (PTW)ORCID iD: 0000-0002-1869-232X
2012 (English)In: Industrial robot, ISSN 0143-991X, E-ISSN 1758-5791, Vol. 39, no 6, p. 601-608Article in journal (Refereed) Published
Abstract [en]

Purpose – Friction stir welding (FSW) is a novel method for joining materials without using consumables and without melting the materials. The purpose of this paper is to present the state of the art in robotic FSW and outline important steps for its implementation in industry and specifically the automotive industry.

Design/methodology/approach – This study focuses on the robot deflections during FSW, by relating process forces to the deviations from the programmed robot path and to the strength of the obtained joint. A robot adapted for the FSW process has been used in the experimental study. Two sensor-based methods are implemented to determine path deviations during test runs and the resulting welds were examined with respect to tensile strength and path deviation.

Findings – It can be concluded that deflections must be compensated for in high strengths alloys. Several strategies can be applied including online sensing or compensation of the deflection in the robot program. The welding process was proven to be insensitive for small deviations and the presented path compensation methods are sufficient to obtain a strong and defect-free welding joint.

Originality/value – This paper demonstrates the effect of FSW process forces on the robot, which is not found in literature. This is expected to contribute to the use of robots for FSW. The experiments were performed in a demonstrator facility which clearly showed the possibility of applying robotic FSW as a flexible industrial manufacturing process.

Place, publisher, year, edition, pages
2012. Vol. 39, no 6, p. 601-608
Keywords [en]
Industrial robots, friction stir welding, path compensation, seam tracking, force
National Category
Robotics
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
URN: urn:nbn:se:hv:diva-4466DOI: 10.1108/01439911211268813ISI: 000312473800007OAI: oai:DiVA.org:hv-4466DiVA, id: diva2:537619
Available from: 2012-06-27 Created: 2012-06-27 Last updated: 2020-01-17Bibliographically approved
In thesis
1. Robotic Friction Stir Welding for Flexible Production
Open this publication in new window or tab >>Robotic Friction Stir Welding for Flexible Production
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Friction Stir Welding (FSW) is a modern welding process that joins materials by frictional heat, generated by a rotating tool. Unlike other welding processes, the material never melts, which is beneficial for the weld properties. FSW is already widely adopted in several industries but the applications are limited to simple geometries like straight lines or circular welds, mostly in aluminium. The welding operation is performed by rigid FSW machines, which deliver excellent welds but puts limitations on the system in terms of flexibility and joint geometries. Therefore, several research groups are working on the implementation of the FSW process on industrial robots. A robot allows welding of three-dimensional geometries and increases the flexibility of the whole system. The high process forces required for FSW, in combination with the limited stiffness of the robot brings some extra complexity to the system.  The limitations of the robot system are addressed in this licentiate thesis.

One part of the thesis studies the effect of robot deflections on the weld quality. A sensor-based solution is presented that measures the path deviation and compensates this deviation by modifying the robot trajectory. The tool deviation is reduced to an acceptable tolerance and root defects in the weld are hereby eliminated. The sensor-based method provided better process understanding, leading to a new strategy that uses existing force-feedback for path compensations of the tool. This method avoids extra sensors and makes the system less complex. Another part of this work focuses on the extra complexity to maintain a stable welding process on more advanced geometries. A model is presented that allows control of the heat input in the process by control of the downforce. Finally, the robot’s limitations in terms of maximal hardness of the materials to be welded are investigated. Parameter tuning and implementation of preheating are proposed to allow robotic FSW of superalloys.

Abstract [sv]

Friction Stir Welding eller ”friktionsomrörningssvetsning” är en svetsprocess som kräver ett roterande verktyg som genom friktionsvärme får materialet att mjukna. Verktyget blandar runt det plastiska materialet mekaniskt och skapar en fog av hög kvalité. Processen fungerar utan gas, utan rök, utan tillsatsmaterial och utan att smälta materialet. Alla dessa fördelar skapar stort industriellt intresse inom flera branscher. Idag används tekniken nästan uteslutande i styva maskiner som svetsar raka eller cirkulära fogar och framförallt för aluminium. Eftersom processen kräver stora krafter mellan material och verktyg är det svårt att implementera processen på en robot. En robot möjliggör svetsning av tredimensionella geometrier och ökar dessutom flexibiliteten.  Flera forskargrupper runt i världen har tagit fram en fungerande FSW robot som kan svetsa tunn lättviksmaterial som aluminium med hög kvalitet. Användningen i industrin av FSW robotar är däremot obefintlig och det finns ett antal anledningar till det. Först är roboten vek vilket gör att verktyget kan missa svetsfogen i hårda material och svetsdefekter kan uppstå. En annan anledning är at det inte finns en användbar automatiserad processtyrning tillgänglig, mest för att FSW är en robust process och inte kräver en avancerad styrning vid svetsning av raka fogar.

De praktiska arbeten som redovisas i denna licentiatuppsats är huvudsakligen utförda i en robotiserad FSW-demonstrator på Högskolan Väst. FSW-roboten är en modifierad industrirobot som är försetts med spindel och kraftåterkoppling för att styra kraften som roboten applicerar på arbetsstycket.

Detta arbete har identifierat ett antal problem som behöver lösas för att få en robust robotiserad FSW process i en flexibel produktionsmiljö. I denna licentiatrapport beskrivs en lösning hur en typ av svetsdefekter kan förhindras genom en sensorbaserad bankompensering. Både en kamera- och lasersensor-baserad mätmetod presenteras. En annan bankompenseringsstrategi är beskriven, som använder kraftsensorn från befintlig kraftåterkoppling istället för att lägga till extra sensor. Denna strategi kan utvecklas till en komplett utböjningsmodell på roboten i hela arbetsområdet. Robotens begränsningar gällande svetsbarhet av hårda material har undersökts och med hjälp av parameteroptimering och förvärmning kan även hårda nickelbaserade legeringar svetsas med roboten.

Place, publisher, year, edition, pages
Lund: Lund University, 2012. p. 141
Keywords
Friction Stir Welding, Automation, Robotics, Aluminium, Lightweight design
National Category
Robotics Control Engineering Manufacturing, Surface and Joining Technology
Research subject
ENGINEERING, Industrial engineering; ENGINEERING, Mechatronics
Identifiers
urn:nbn:se:hv:diva-4429 (URN)978-91-7473-342-6 (ISBN)
Presentation
2012-06-15, C118, Högskolan Väst, Trollhättan, 17:10 (English)
Opponent
Supervisors
Projects
StiRoLight
Available from: 2012-06-27 Created: 2012-06-18 Last updated: 2019-11-27Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full texthttp://www.emeraldinsight.com/journals.htm?issn=0143-991x&volume=39&issue=6&articleid=17058487&show=abstract

Authority records

De Backer, JeroenChristiansson, Anna-KarinBolmsjö, Gunnar

Search in DiVA

By author/editor
De Backer, JeroenChristiansson, Anna-KarinBolmsjö, Gunnar
By organisation
Division of Electrical and Automation EngineeringDivision of Process and Product DevelopmentDepartment of Engineering ScienceDivision of Automation and Computer Engineering
In the same journal
Industrial robot
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 1099 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf