Dynamic path correction of friction stir welding
A method for controlling friction stir welding is provided. The method may include initiating friction stir welding and determining the position of a friction stir welding tool and at least one part being welded. The method may also include adjusting the position of the friction stir welding tool while friction stir welding based at least in part on the positions of the tool and at least one of the parts. The position of the parts may be determined downstream of the friction stir welding tool in order to prospectively account for the position of the parts. Accordingly, the position of the friction stir welding tool may be dynamically adjusted during friction stir welding to account for part movement. Related systems and computer code are provided.
1. A method for controlling a friction stir welding operation, the method comprising:
initiating friction stir welding of a first part to a second part with a friction stir welding tool along a welding path, the welding path corresponding to a junction between the first part and the second part;
determining a position of the friction stir welding tool during the friction stir welding;
determining a position of at least one of the first part and the second part, downstream of the friction stir welding tool;
predicting an amount of lateral displacement of the junction with respect to the welding path using at least the determined positions; and
dynamically correcting the welding path of the friction stir welding tool while friction stir welding the first part to the second part to account for the predicted lateral displacement of the junction with respect to the welding path during the welding operation.
2. The method of claim 1 , wherein determining the position of the friction stir welding tool comprises determining the position of the friction stir welding tool with one or more sensors.
3. The method of claim 1 , wherein determining the position of at least one of the first part and the second part comprises determining the position of at least one of the first part and the second part with one or more optical sensors.
4. The method of claim 1 , wherein determining the position of at least one of the first part and the second part downstream of the friction stir welding tool comprises determining the position of at least one of the first part and the second part at a first location downstream of the friction stir welding tool and at a second location downstream of the first location.
5. The method of claim 4 , further comprising calculating an approximation of the position of at least one of the first part and the second part.
6. The method of claim 5 , wherein calculating the approximation comprises calculating a linear approximation of the position of at least one of the first part and the second part.
7. The method of claim 5 , further comprising adjusting the approximation to determine an expected position of at least one of the first part and the second part when the friction stir welding tool reaches the first location.
8. The method as recited in claim 2 , wherein the one or more sensors comprise an optical sensor mounted to the friction stir welding tool.
9. The method as recited in claim 3 , wherein the one or more sensors comprise an optical sensor.
10. The method as recited in claim 2 , further comprising:
constraining the first and second parts with a fixture, wherein the one or more sensors comprise a plurality of sensors mounted to the fixture.
11. The method as recited in claim 3 , further comprising:
periodically tracking a position of the friction stir welding tool during a friction stir welding operation with the one or more sensors that are distributed proximate to the welding path of the friction stir welding tool.
12. The method as recited in claim 2 , wherein the one or more sensors comprise a tool sensor configured to determine the position of the friction stir welding tool and a part sensor configured to determine the position of at least one of the first part and the second part.
13. A method for guiding a friction stir welding tool during a friction stir welding operation, the method comprising:
providing a welding path to the friction stir welding tool, the welding path corresponding to a junction between a first part and a second part prior to applying the friction stir welding operation to join the first and second parts along the junction;
detecting a position of a portion of the first part downstream of the friction stir welding tool using at least an optical sensor;
predicting an amount of lateral movement of the junction with respect to the welding path using at least the detected position; and
dynamically adjusting the welding path of the friction stir welding tool during the friction stir welding operation in accordance with the predicted lateral movement.
14. The method as recited in claim 13 , wherein the optical sensor is coupled to a fixture operable to support at least one of the first and the second part during the friction stir welding operation.
15. The method as recited in claim 13 , wherein the detected portion of the first part is downstream of a position of the friction stir welding tool.
16. The method as recited in claim 13 , further comprising:
detecting a position of the friction stir welding tool, wherein the predicting is also based on the detected position of the friction stir welding tool.
17. The method as recited in claim 13 , wherein the friction stir welding tool is guided by a robotic assembly configured to receive instructions for dynamically adjusting the welding path.