A Study of Tau-Robot Configuration for Friction Stir Welding

This paper examines the use of high-rigidity Tau-robots in friction stir welding, where process loads are very high. The rigidity of Tau-robots increases at the expense of the workspace. Therefore, the right configuration of the Tau-robot is sought to reconcile rigidity and workspace requirements. This is studied by use of kinematics, followed by static and modal analysis. In particular, by extending an existing kinematic model employing free vectors, the robot workspace was derived in non-dimensional parametric form and was then maximized through evolutionary optimization. However, finite element static and modal analysis that were carried out subsequently may prove, as in a case demonstrated here, that the optimized configuration may not withstand high loads, typically axial forces of 15 kN and torques of 80 Nm, and it may also be susceptible to forced vibrations in the typical spindle rotation range up to 3000 rpm. As a rectification measure, it was shown how a modified configuration by placing robot kinematic chain bases further apart and shortening robot links achieves higher rigidity, axial displacement being reduced by one or two orders of magnitude to below 1 mm and increases critical modal frequency 3 to 5 times depending on the workspace position, of course sacrificing part of the workspace, i.e., reducing it 3-fold to enclose welding lines in a rectangle of dimensions 700 × 800 mm. In the quest for the appropriate robot configuration desired dimensions of parts to be welded and available standard components are briefly considered, too.