Research on Stiffness Characteristics and Load Control Method of Friction Stir Welding Robot

FANG Lijin; ZHANG Yue; XU Xiaohui

doi:10.16080/j.issn1671-833x.2020.09.014

您当前的位置：

首页 >

文章列表页 >

Research on Stiffness Characteristics and Load Control Method of Friction Stir Welding Robot

更新时间：2025-10-30

- Research on Stiffness Characteristics and Load Control Method of Friction Stir Welding Robot
- Aeronautical Manufacturing Technology Vol. 63, Issue 9, Pages: 14-20(2020)
- 作者机构：
  
  1. 东北大学机器人科学与工程学院,沈阳,110819
  2. 东北大学机械工程与自动化学院,沈阳,110819
  3. 上海航天技术研究院,上海,201109
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2020.09.014
  CLC：
- Published：2020
- 稿件说明：
移动端阅览
房立金，张月，徐晓辉. 搅拌摩擦焊接机器人形变及载荷控制方法研究[J]. 航空制造技术, 2020, 63(9): 14-20.

FANG Lijin,ZHANG Yue,XU Xiaohui. Research on Stiffness Characteristics and Load Control Method of Friction Stir Welding Robot. Aeronautical Manufacturing Technology, 2020, 63(9): 14-20.
房立金，张月，徐晓辉. 搅拌摩擦焊接机器人形变及载荷控制方法研究[J]. 航空制造技术, 2020, 63(9): 14-20. DOI： 10.16080/j.issn1671-833x.2020.09.014.

FANG Lijin,ZHANG Yue,XU Xiaohui. Research on Stiffness Characteristics and Load Control Method of Friction Stir Welding Robot. Aeronautical Manufacturing Technology, 2020, 63(9): 14-20. DOI： 10.16080/j.issn1671-833x.2020.09.014.

摘要

基于搅拌摩擦焊接中搅拌头受力数学模型，利用 Ansys Workbench 建立了搅拌头的静力学模型。分析了焊接过程中前进阻力、侧向力、轴向力和扭矩对搅拌头应变影响，仿真结果表明，搅拌摩擦焊接过程中搅拌针的根部是主要的应力集中区域。合适的焊接方法与工艺对提高机器人搅拌摩擦焊接稳定性有很大帮助，对搅拌摩擦焊点焊、优化搅拌头设计和焊接工艺参数、热源和超声辅助、反馈测量补偿搅拌摩擦焊、改进机器人结构刚度和精度等载荷控制方法进行了详细阐述。结合工业机器人整体刚性较弱、加工作业时易引发颤振、关节减速器内部齿隙较大，提出了基于双电机传动的无间隙传动高刚性机械臂结构设计，并对机械臂刚度特性进行分析。

Abstract

Based on the mathematical model of the force on the mixing head in friction stir welding

the static model of the mixing head was established by using Ansys Workbench. The influence of forward resistance

lateral force

axial force and torque on the strain of the mixing head is analyzed. Suitable welding methods and processes are of great help to improve the stability of robot friction stir welding

and the load control methods such as friction stir spot welding

optimizing mixing head design and welding process parameters

heat source and ultrasonic-assisted

feedback measurement and compensation friction stir welding

as well as the improvement of robot structural stiffness and accuracy are described in detail. In combination with the weak overall rigidity of industrial robot

easy to cause flutter during processing

and large internal tooth gap of joint reducer

a high rigid mechanical arm with non-clearance drive based on dual motor drive is proposed

and the stiffness characteristics of the mechanical arm are discussed.

关键词

Keywords

references

Views

350

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research Progress on Robotic Additive Manufacturing Technology Towards Aerospace Lightweight Structures

Research on Variation Law and Influencing Factors of Forging Force in Dual-Robot Mirror Friction Stir Welding

Application of Robot-Based Automated Inspection Technology in Aviation Manufacturing

Optimization Method of Position of Robot Friction Stir Welding Parts Based on Optimal Stiffness Interval

Study on Rotary Ultrasonic Drilling Process of C/SiC Ceramic Matrix Composite

Related Author

XIONG Yi

RUAN Kaicheng

ZHANG Guoquan

ZHAO Donghua

LIU Haitao

XIAO Juliang

MENG Shaofe

DONG Jiyi

Related Institution

The Hong Kong Polytechnic University

Southern University of Science and Technology

Shanghai Aerospace Equipment Manufacturing General Factory Co., Ltd.

Key Laboratory of Mechanisms Theory and Equipment Design of Ministry of Education, Tianjin University

Tsinghua University

⁰