Robotic friction stir welding

The forces and torques associated with friction stir welding (FSW) are discussed as they relate to implementation of the welding process with industrial robots. Experimental results are presented that support the conclusions drawn from models developed by others. It is shown that even with heavy-duty industrial robots with high stiffness, force feedback is important for successful robotic FSW. Methods of implementing force feedback are reviewed. Attention is paid to stability issues that arise with variations in tool rotation and travel speed. Successful implementations of robotic FSW are cited.