Robotic floating-bobbin friction stir welding

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An example of floating-bobbin welding on a robotic FSW system. This is a butt weld between two 3mm thick AA6082-T6 curved plates. Bobbin welding eliminates the potential for weld lack of penetration and the need for a backing bar. The floating-bobbin variant simplifies the need for sophisticated control systems as it naturally welds in the optimum position.

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what do you do with the end of the metal piece? do you just cut it away?