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.