Microfriction Stir Welding of Aluminium Using ABB IRB 1410 Robot

Table 13

Response table.

Level	Motor speed (A)	Traverse speed (B)	Plunging depth (C)
1	15.39	15.42	15.53
2	15.37	15.56	15.41
3	15.76	15.53	15.58
Delta	0.38	0.13	0.16
Rank	1	3	2

Bold value is the maximum speed attained.