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The development of three-dimensional column-type friction stir welding (FSW) equipment for robotic FSW of joints with complex shapes is described. The process requires a large force and precision control for tool penetration. The specification of the three-dimensional FSW equipment is presented. The control systems of the tool penetration depth are outlined. The following aluminium alloy workpieces were made with the three-dimensional FSW equipment: oval workpiece, sealing of disc lid, fillet weld, tailor welded blank and butt weld with arc joint line.

3rd International Symposium, 27-28 Sep 2001, Session 1: Process Development 1, Paper 03