Microfriction Stir Welding of Aluminium Using ABB IRB 1410 Robot

Table 3

L9 input and output parameters.

Input parameters				Output parameters
Sample no	Motor speed (RPM)	Traverse speed (mm/Sec)	Plunging depth (mm)	DOP (mm)	BW (mm)	Hardness (Hv)
1	10000	1	0.5	0.4989	3.48	42.3
2	10000	2	0.6	0.602	4.42	42
3	10000	3	0.7	0.7233	4.45	42
4	16000	1	0.6	0.5936	4.43	41.3
5	16000	2	0.7	0.7103	4.48	42.6
6	16000	3	0.5	0.4852	3.47	42.3
7	20000	1	0.7	0.7713	4.45	43
8	20000	2	0.5	0.4731	3.43	43.3
9	20000	3	0.6	0.584	4.49	43.3