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[
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er
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n
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e
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o
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e.
Fig
u
r
e
1
[
9
]
g
iv
es a
s
ch
e
m
at
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c
r
ep
r
esen
tatio
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Fig
u
r
e
1
.
Fric
tio
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Sti
r
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p
Fig
u
r
e
2
.
Flo
w
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t
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h
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ized
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et
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o
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n
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n
3
,
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ata
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w
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n
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o
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n
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f
u
t
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e.
Fi
n
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e
m
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t o
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ap
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6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
:
9
8
–
10
4
100
2.
M
E
T
H
O
D
O
L
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G
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T
h
e
ap
p
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o
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h
to
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d
s
t
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e
m
a
k
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g
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d
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ef
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ec
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h
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ee
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lit
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n
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i
f
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er
e
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t
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ic
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ig
n
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g
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f
ab
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icatio
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q
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alit
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n
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o
l
an
d
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n
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o
llin
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o
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h
e
r
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u
r
e
2
s
a
y
s
t
h
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h
e
m
et
h
o
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o
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t.
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s
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in
itialize
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d
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g
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p
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lem
.
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h
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ir
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.
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t
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ed
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i
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t
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n
ce
p
t
i
s
s
k
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ed
o
u
t
an
d
s
t
u
d
ied
.
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h
e
o
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tim
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m
s
o
l
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tio
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o
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t
h
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co
n
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t
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ar
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iv
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ter
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h
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h
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s
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o
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w
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y
SO
L
I
DW
OR
KS.
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h
e
v
ar
i
o
u
s
ca
lc
u
latio
n
s
ar
e
d
o
n
e
s
u
c
h
as
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ar
a
m
e
ter
s
.
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h
en
an
al
y
s
i
s
o
f
t
h
e
co
m
p
le
x
m
o
d
el
i
n
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tify
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am
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n
tal
p
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ad
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ee
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t.
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t
s
tag
e
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s
to
f
ab
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icate
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h
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d
to
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l
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d
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ter
f
ac
e
to
A
B
B
I
R
B
1
4
1
0
.
T
h
en
a
n
alg
o
r
ith
m
a
n
d
p
r
o
g
r
am
i
s
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e
d
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elo
p
ed
f
o
r
th
e
A
B
B
R
o
b
o
t f
o
r
th
e
p
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r
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e
o
f
f
r
ictio
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eld
i
n
g
o
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er
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b
y
f
r
ictio
n
s
tir
w
eld
in
g
en
d
-
e
f
f
ec
t
o
r
.
Fin
all
y
,
th
e
f
r
ic
tio
n
s
tir
w
eld
i
n
g
is
i
n
ter
f
ac
ed
w
it
h
t
h
e
r
o
b
o
t
f
o
r
v
er
if
y
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n
g
t
h
e
a
lg
o
r
it
h
m
a
n
d
p
r
o
g
r
am
in
r
ea
l ti
m
e.
2
.
1
.
M
a
t
er
t
ia
l U
s
ed
Var
io
u
s
m
a
ter
ials
w
h
er
e
p
r
o
p
o
s
ed
an
d
th
eir
p
r
o
p
er
ties
ar
e
s
tu
d
ied
.
So
m
e
o
f
t
h
e
m
ater
ial
p
r
o
p
o
s
ed
is
as f
o
llo
w
s
:
Alu
m
i
n
i
u
m
a
llo
y
s
,
HC
C
(
Hi
g
h
C
ar
b
o
n
Steel)
,
H
SS
(
Hig
h
Sp
ee
d
Steel)
,
C
h
r
o
m
iu
m
.
3.
E
XP
E
R
I
M
E
NT
A
L
SE
T
-
UP
T
h
e
I
R
B
1
4
1
0
g
iv
es
y
o
u
f
a
s
t a
n
d
r
eliab
le
w
o
r
k
c
y
c
les
th
at
b
o
o
s
t p
r
o
d
u
ctiv
it
y
.
T
h
e
r
o
b
o
t is
p
r
o
v
en
i
n
ar
c
w
eld
i
n
g
ap
p
licatio
n
s
a
n
d
p
r
o
v
id
es
o
u
ts
tan
d
i
n
g
p
er
f
o
r
m
a
n
ce
an
d
v
al
u
e,
en
s
u
r
i
n
g
s
h
o
r
t
p
ay
b
ac
k
ti
m
es.
T
h
e
r
o
b
o
t
h
as
a
h
an
d
lin
g
ca
p
ac
it
y
o
f
5
k
g
at
t
h
e
w
r
i
s
t
w
it
h
a
u
n
iq
u
e
1
8
k
g
ad
d
itio
n
al
lo
ad
f
o
r
ap
p
licatio
n
s
eq
u
ip
m
e
n
t
o
n
th
e
u
p
p
er
1
6
a
r
m
.
Su
p
er
io
r
lev
els
o
f
co
n
tr
o
l
an
d
p
ath
f
o
llo
w
in
g
ac
cu
r
ac
y
p
r
o
v
id
e
ex
ce
l
len
t
w
o
r
k
q
u
alit
y
.
T
h
e
ab
ilit
y
to
a
d
j
u
s
t
p
r
o
ce
s
s
s
p
ee
d
an
d
p
o
s
it
io
n
m
ea
n
s
y
o
u
ac
h
ie
v
e
o
p
ti
m
u
m
m
an
u
f
ac
tu
r
i
n
g
ac
cu
r
ac
y
w
it
h
litt
le
o
r
n
o
r
ej
ec
ts
.
I
R
B
1
4
1
0
is
k
n
o
w
n
f
o
r
its
s
ti
f
f
an
d
r
o
b
u
s
t
co
n
s
tr
u
ctio
n
.
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h
is
tr
an
s
lates
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n
to
lo
w
n
o
is
e
le
v
els,
lo
n
g
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ter
v
a
ls
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et
w
ee
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ti
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e
m
ai
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n
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n
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n
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er
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l
if
e.
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h
e
r
o
b
o
t
h
as
a
lar
g
e
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o
r
k
in
g
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a
n
d
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n
g
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ch
.
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h
e
co
m
p
ac
t
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e
s
ig
n
,
v
er
y
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l
i
m
w
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is
t
a
n
d
h
ig
h
p
er
f
o
r
m
an
ce
o
p
er
atio
n
e
v
en
in
d
if
f
icu
lt
an
d
r
e
s
tr
icted
lo
ca
tio
n
s
.
E
as
y
-
to
-
u
s
e
all
f
u
n
ct
io
n
s
is
in
clu
d
ed
as
s
tan
d
ar
d
in
t
h
e
I
R
C
5
r
o
b
o
t
co
n
tr
o
ller
ar
e
m
ad
e
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v
ailab
le
v
ia
th
e
p
aten
ted
p
r
o
g
r
a
m
m
i
n
g
a
n
d
o
p
er
atio
n
in
ter
f
ac
e
u
n
it
-
t
h
e
Flex
P
en
d
an
t.
T
ab
l
e
1
.
Sp
ec
if
icatio
n
s
o
f
A
B
B
I
R
B
1
4
1
0
R
o
b
o
t
H
a
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a
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x
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n
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x
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s
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mb
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k
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m
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t
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Ex
t
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p
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c
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v
a
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M
a
x
.
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C
P
v
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t
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t
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t
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o
f
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x
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s
W
e
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g
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t
o
f
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o
b
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t
6
6
1
2
si
g
n
a
l
s o
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u
p
p
e
r
a
r
m
M
a
x
.
8
b
a
r
o
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u
p
p
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r
a
r
m
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i
n
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l
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a
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t
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c
o
mp
a
c
t
2
.
1
m
/
s
6
2
2
5
k
g
4.
DE
S
I
G
N
3
D
m
o
d
elin
g
s
o
f
t
w
ar
e
w
as
u
s
ed
to
d
esig
n
t
h
e
m
o
d
el
o
f
th
e
f
r
ictio
n
s
tir
w
eld
i
n
g
.
T
h
e
m
o
d
el
w
i
ll
b
e
w
it
h
a
r
i
g
id
al
u
m
in
u
m
s
tr
u
ct
u
r
e
as
t
h
e
b
o
d
y
w
it
h
a
HSS
to
o
l
co
v
er
at
t
h
e
b
o
tto
m
a
n
d
p
n
eu
m
a
tic
g
u
n
.
E
ac
h
m
o
d
el
o
f
t
h
e
s
e
g
m
e
n
t
w
er
e
cr
ea
ted
s
ep
ar
ately
an
d
ass
e
m
b
led
.
C
alcu
latio
n
s
d
o
n
e
to
d
eter
m
i
n
e
th
e
to
r
q
u
e
r
eq
u
ir
ed
to
m
o
v
e
t
h
ese
d
esi
g
n
s
b
y
a
p
n
eu
m
atic
g
u
n
.
I
n
th
i
s
s
ec
tio
n
,
it
is
e
x
p
lai
n
ed
th
e
r
esu
lts
o
f
r
esear
ch
an
d
at
th
e
s
a
m
e
ti
m
e
is
g
iv
e
n
t
h
e
co
m
p
r
e
h
en
s
iv
e
d
is
c
u
s
s
io
n
.
R
e
s
u
lt
s
ca
n
b
e
p
r
ese
n
ted
i
n
f
i
g
u
r
es,
g
r
ap
h
s
,
tab
le
s
a
n
d
o
th
er
s
t
h
at
m
a
k
e
t
h
e
r
ea
d
er
u
n
d
er
s
ta
n
d
ea
s
il
y
[
2
]
,
[
5
]
.
T
h
e
d
is
cu
s
s
io
n
ca
n
b
e
m
ad
e
in
s
e
v
er
al
s
u
b
-
c
h
ap
ter
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
a
n
d
F
a
b
r
ica
t
io
n
o
f F
r
ictio
n
S
tir
W
eld
in
g
E
n
d
-
E
ffecto
r
fo
r
a
n
A
B
B
I
R
B
1
4
1
0
...
(
V
a
n
a
ma
S
a
n
to
s
h)
101
4
.
1
.
Desig
n o
f
Weld To
o
l
T
h
e
f
ir
s
t step
o
f
d
esi
g
n
p
r
o
ce
s
s
is
to
d
ev
elo
p
th
e
w
eld
to
o
l f
o
r
f
r
ictio
n
w
eld
in
g
.
Her
e
th
e
p
in
is
th
r
ea
d
ed
w
it
h
d
ia.
4
m
m
th
e
co
n
n
ec
t
in
g
t
h
e
s
h
o
u
ld
er
h
er
e
th
e
d
ia.
1
5
m
m
,
w
i
th
co
n
ca
v
it
y
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sle
y
.
[6
]
Bre
s,
A
.
,
M
o
n
sa
rra
t,
B.
,
Du
b
o
u
rg
,
L
.
,
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len
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,
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h
a
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i,
M
.
,
a
n
d
Ba
ro
n
,
L
.
(2
0
1
0
).
S
im
u
latio
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o
f
f
rictio
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stir
w
e
ld
in
g
u
sin
g
in
d
u
str
ial
ro
b
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In
d
u
stria
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Ro
b
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t:
An
In
ter
n
a
ti
o
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a
l
J
o
u
rn
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l
,
3
7
(1
),
3
6
–
50.
[7
]
De
Ba
c
k
e
r,
J.,
Ch
ris
ti
a
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o
n
,
A
.
K.,
Oq
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k
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n
d
Bo
lm
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,
G
.
(
2
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2
).
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a
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ic f
rictio
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in
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.
I
n
d
u
stri
a
l
Ro
b
o
t
,
3
9
(6
),
6
0
1
–
6
0
8
.
[8
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F
e
h
re
n
b
a
c
h
e
r,
A
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,
S
m
it
h
,
C.
,
Du
ff
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N.,
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rrier,
N.,
P
f
e
ff
e
r
k
o
rn
,
F
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,
a
n
d
Zi
n
n
,
M
.
(2
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1
4
).
Co
m
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in
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d
tem
p
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ra
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re
a
n
d
f
o
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c
o
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tro
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f
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r
ro
b
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ti
c
f
rictio
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stir
w
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ld
in
g
.
J
o
u
rn
a
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f
M
a
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u
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S
c
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E
n
g
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,
T
r
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c
ti
o
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s
o
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th
e
AS
M
E
,
1
3
6
(
2
).
[9
]
S
c
h
m
id
t
H,
Ha
tt
e
l
J,
W
e
rt
J (2
0
0
4
),
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a
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a
lytica
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fo
r t
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a
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frictio
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stir w
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’,
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RAP
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