Analytical kinematics and working-condition simulation for friction stir welding (FSW) robot

In this paper, combining with the engineering reality needs, we developed a new type of friction stir welding robot welding system. Through the configuration analysis, introduces the structural components and functional roles of each part of the FSW robot, as well as the commonly used five kinds of typical working-conditions. Using D-H parameters method, establishment the forward kinematics equation of FSW robot and verify its rightness. With Piper criterion method, solve the inverse solution of FSW robot´s kinematics equation. Finally, take melon petals welding condition for example, carry out trajectory planning for a given size rockets head weld and conduct welding simulation analysis. We have got different parameters´ change curves relative to time on FSW robot´s joint space and verified the correctness of its mechanism design and kinematics model.