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

Article dans une revue avec comité de lecture
Author
KOLEGAIN, Komlan
224752 Institut de soudure [IS]
LEONARD, François
107452 Laboratoire de Conception Fabrication Commande [LCFC]
ZIMMER-CHEVRET, Sandra
107452 Laboratoire de Conception Fabrication Commande [LCFC]
BEN ATTAR, Amarilys
224752 Institut de soudure [IS]
ABBA, Gabriel
107452 Laboratoire de Conception Fabrication Commande [LCFC]

URI
http://hdl.handle.net/10985/19036
DOI
10.1108/IR-03-2018-0038
Date
2018
Journal
Industrial Robot: An International Journal

Abstract

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.

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