Authors:
F. Dardouri
1
;
G. Abba
2
and
W. Seemann
3
Affiliations:
1
Design, Manufacturing and Control Laboratory (LCFC), Arts et Métiers ParisTech, Institut of Technical Mechanics (ITM) and Karlsruhe Institut of Technology-KIT, France
;
2
Design, Manufacturing and Control Laboratory (LCFC) and Arts et Métiers ParisTech, France
;
3
Institut of Technical Mechanics (ITM) and Karlsruhe Institut of Technology-KIT, Germany
Keyword(s):
Industrial Robot, Friction, Force, Deviation errors, Hybrid Systems, Actuators, Optimization.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Today industrial robots are used in many manufacturing applications because of their versatility and easy applicability. Notwithstanding their performance these robots are not suitable for some manufacturing processes where uniform and high forces together with suitable precision of position are required. The present research is focused on one of the high thrust operations, the friction stir welding (FSW). This method for connecting two parts works while the connected materials are in the solid phase. For this reason a very high thrust force is needed to soften the material during the welding process. Due to these high forces the position of the tool of a serial robot deviates from the desired trajectory. In this paper the possibility of using a parallel structure device is investigated to improve the load capacity and stiffness of a heavy manipulator robot. Such a system may exert forces directly on the process tool. In this way the movement of the tool is mainly generated by the in
dustrial serial robot, while the parallel structure ensures the generation of very high thrust forces.
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