| Abstract: | The relevance, importance and presence of industrial robots in manufacturing have increased over the years, with applications in diverse new and nontraditional manufacturing processes. This paper presents the complete concept and design of a novel friction stir welding (FSW) robotic platform for welding polymeric materials. It was conceived to have a number of advantages over common FSW machines: it is more flexible, cheaper, easier and faster to setup and easier to programme. The platform is composed by three major groups of hardware: a robotic manipulator, a FSW tool and a system that links the manipulator wrist to the FSW tool (support of the FSW tool). This system is also responsible for supporting a force/torque (F/T) sensor and a servo motor that transmits motion to the tool. During the process, a hybrid force/motion control system adjusts the robot trajectories to keep a given contact force between the tool and the welding surface. The platform is tested and optimized in the process of welding acrylonitrile butadiene styrene (ABS) plates. Experimental tests proved the versatility and validity of the proposed solution. |
