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- Title
Active Vibration Avoidance Method for Variable Speed Welding in Robotic Friction Stir Welding Based on Constant Heat Input.
- Authors
Zong, Guanchen; Kang, Cunfeng; Chen, Shujun
- Abstract
Robotic Friction Stir Welding (RFSW) technology integrates the advantages of friction stir welding and industrial robots, finding extensive applications and research in aerospace, shipbuilding, and new energy vehicles. However, the high-speed rotational process of friction stir welding combined with the low stiffness characteristics of serial industrial robots inevitably introduces vibrations during the welding process. This paper investigates the vibration patterns and impacts during the RFSW process and proposes an active vibration avoidance control method for variable speed welding based on constant heat input. This method utilizes a vibration feedback strategy that adjusts the spindle speed actively if the end-effector's vibration exceeds a threshold, thereby avoiding the modal frequencies of the robot at its current pose. Concurrently, it calculates and adjusts the welding speed of the robot according to the thermal equilibrium equation to maintain constant heat input. A simplified dynamic model of the RFSW robot was established, and the feasibility of this method was validated through simulation experiments. This study fills the gap in vibration analysis of RFSW and provides new insights into control strategies and process optimization for robotic friction stir welding.
- Subjects
FRICTION stir welding; ACTIVE noise &; vibration control; INDUSTRIAL robots; ROBOTIC welding; WELDABILITY; ELECTRIC vehicles; THERMAL equilibrium; FRICTION stir processing
- Publication
Materials (1996-1944), 2024, Vol 17, Issue 11, p2593
- ISSN
1996-1944
- Publication type
Article
- DOI
10.3390/ma17112593