Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures
文献类型：期刊论文
| 作者 | Wu JF(武加锋); Zhang, Rui; Yang GX(杨广新)
|
| 刊名 | Industrial Robot
 |
| 出版日期 | 2015 |
| 卷号 | 42期号:4页码:332-338 |
| 关键词 | Friction stir welding Heavy robot design Large-scale complex structures |
| ISSN号 | 0143-991X |
| 产权排序 | 2 |
| 通讯作者 | 武加锋 |
| 中文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Industrial ; Robotics |
| 研究领域[WOS] | Engineering ; Robotics |
| 关键词[WOS] | LOCALIZATION ; ALGORITHMS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000357392900007 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16185]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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