{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:43Z","timestamp":1754155423593,"version":"3.41.2"},"reference-count":21,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2015,6,15]],"date-time":"2015-06-15T00:00:00Z","timestamp":1434326400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015,6,15]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 This paper aims to present a new friction-stir-weld robot for large-scale complex surface structures, which has high stiffness and good flexibility. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 The robot system is designed according to manufacturability of large aluminum products in aeronautic and astronautic area. The kinematic model of the robot is established, and a welding trajectory planning method is also developed and verified by experiments. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 Experimental results show that the robot system can meet the requirements of friction stir welding (FSW) for large-scale complex surface structures. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title>\n               <jats:p> \u2013 Compared with other heavy robotic arm and machine tool welding devices, this robot has better working quality and capability, which can greatly improve the manufacturability for large-scale complex surface structures. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 The friction-stir-weld robot system is a novel solution for welding large-scale complex surface structures. Its major advantages are the high stiffness, good flexibility and high precision of the robot body, which can meet the requirements of FSW. Besides, a welding trajectory planning method based on iterative closest point (ICP) algorithm is used for welding trajectory.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-01-2015-0009","type":"journal-article","created":{"date-parts":[[2015,6,12]],"date-time":"2015-06-12T05:22:52Z","timestamp":1434086572000},"page":"332-338","source":"Crossref","is-referenced-by-count":13,"title":["Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures"],"prefix":"10.1108","volume":"42","author":[{"given":"Jiafeng","family":"Wu","sequence":"first","affiliation":[]},{"given":"Rui","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Guangxin","family":"Yang","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020122323533370600_b1","unstructured":"Arularasu, S.\n                and \n                  Jothilingam, A.\n                (2012), \u201cDesign and development of low cost 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