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Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during the welding, because of the high forces induced by the process. This leads to tool deviation and incorrect orientation. There is currently no computer-aided manufacturing/computer-aided design (CAD) software for generating off-line paths which integrates robot deflections, and the main purpose of this study is to propose an off-line methodology to plan a path for RFSW with the integration of the deflections.

The approach is divided into two steps. The first step consists of extracting position and orientation data from CAD models of the workpieces and adding the deflections calculated with a deflection model to generate a suitable path for performing RFSW. The second step consists of the smooth fitting of the suitable path using Bézier curves.

The method is experimentally validated by welding a curved workpiece using a Kuka KR500-2MT robot. A suitable tool position and orientation were calculated to perform this welding, an experimental procedure was set up, a defect-free weld was performed and a high accuracy was achieved in terms of position and orientation.

This method can help manufacturers to easily perform RFSW for three-dimensional workpieces regardless of the lateral tool deviation, loss of the right orientation and control force stability.

The originality of this method lies in compensating for robot deflections without using expensive sensors, which is the most commonly used method for compensating for robot deflection. This off-line method can lead to a reduction in programming time in comparison with teach programming method and leads to reduced investment costs in comparison with commercial off-line programming packages.

Nowadays, a rotary friction welding method is accepted in many industries, particularly for joining dissimilar materials as a mass production process. It is due to advantages like less material waste, low production time and low energy expenditure. The effect of the change in carbon contents in steel is studied experimentally in the rotary friction welding process, and a statistical model is developed. The Grey Taguchi method gives the single parameters optimization for all output responses. The paper aims to discuss these issues.

An experimental setup was designed and produced to achieve the multi-response in single optimum parameters through Grey relational analysis. A continuous/direct drive rotary friction welding process is chosen in which transition from friction to the forging stage can be achieved automatically by applying a break. In this experimentation, high carbon and low carbon work-pieces with different carbon percentage were welded with rotary friction welding. Response tensile strength and micro-hardness of the design of the experiment are used to analyze the results.

The optimization of parameters has been performed with Grey relational analysis, and optimum parameters are friction pressure 40 kg/cm², forging pressure 100 kg/cm² and speed 1,120 rpm. GRA optimum parameters give 56.04 and 82.16 percent improvement in Tensile strength and micro-hardness, respectively.

High carbon steel (En-31) and low carbon steel (SAE-1020) are used in so many industrial applications. These materials are mostly used in the process like manufacturing, metallurgy, machinery, agricultural, etc. These practical applications have brought forward definite and notable economic benefits.

It provides a new framework to investigate the problems where multiple input machining variables and various output responses are obtained in single optimized parameters.