“We declared that we read this thesis and in our point of view this thesis is qualified

in term of scope and quality for the purpose of awarding the Bachelor of Engineering
(Hons) Mechanical.”

Signed : ..................................................
Date : ...................................................
Supervisor
Dr Wan Emri Wan Abdul Rahman
Senior Lecturer
Faculty of Mechanical Engineering
Universiti Teknologi Mara (UiTM)
40450 Shah Alam
Selangor.

Signed : .............................................
Date : .............................................
Co-Supervisor
Prof. Dr. Ing. Yupiter HP Manurung
Senior Lecturer
Faculty of Mechanical Engineering
Universiti Teknologi Mara (UiTM)
40450 Shah Alam
Selangor.
 “I declared that this thesis is the result of my own work except the ideas and
summaries which i clarified their sources. The thesis has not accepted for any degree
and is not concurrently submitted in candidature of any degree.”

Signed : ......................................................
Date : ......................................................

FETISIA HELENA SIPI ANAK PENGADAU

UiTM No: 2015126409
PROFILE IDENTIFICATION AND MATERIAL CHARACTERIZATION OF
WIRE ARC ADDITIVE MANUFACTURING (WAAM)
USING ROBOTIC WELDING

FETISIA HELENA SIPI ANAK PENGADAU

(2015126409)

A thesis submitted in partial fulfilment of requirement for the award of Bachelor of

Engineering (Hons.) Mechanical

Faculty of Mechanical Engineering

Universiti Teknologi Mara (UiTM)

DECEMBER 2018
 ACKNOWLEDGEMENT

I’m very thankful for everyone that supported me, for i fave completed my
final year project effectively and moreover on time.

I wish to express my sincere gratitute to Universiti Teknologi Mara (UiTM)

and Faculty of Mechanical Engineering of UiTM Shah Alam for providing me with
all the facilities and giving me opportunities to learn and make it happened for me to
apply all my knowledge in order to achieve the end goal of this final year project.

Moreover, it is my foremost duty to express my deep regards and gratitutes to

my supervisor, Dr Wan Emri Wan Abdul Rahman and my co-supervisor, Prof Dr
Eng Ir Yupiter Hp Manurung for their able guidance and support in completing this
final year project. The knowledge that have been shared by them were very helpful
for me in order to complete this project.

I would also like to extend my gratitute to the members of MARKAS’S

TEAM for their help during completing this project especially the technician in
robotic welding’s lab and material science’s lab. My research and experiment was
done smoothly with their guides and cooperation.

Last but not least, special thanks for my lovely parents for their support
financially and mentally throughout this project. May The Almighty God bless and
repay your kindness.
 ABSTRACT

WAAM adapts the multi-layered welding as its base operation model of

which is similar with a 3D printing technique. Due to its nature, WAAM able to
produce components in shorter time when compared to other process. These
techniques are attracting interest from the manufacturing industry because of their
potential to fabricate large metal components with low cost and short production lead
time. Despite it great benefits, WAAM components are affected by severe distortions
and residual stresses issues. In this study, WAAM is used to fabricate the part of five
layers with one string of 316L stainless steel. The ABB IRB 2400/16 is the robotic
welding used for this experimental process equipped with GMAW power source
KEMMPI Pro Evolution Pro-MIG 540MXE. The specimens are investigated in term
of profile, material composition and the grain growth. The specimens had their
microstructure characterized by optical microscopy and scanning electron
microscope (SEM). During the WAAM process, thermocouple connected to Kyowa
data logger is used to study the heat distribution throughout the process. The
microstructure resulting from the process were later compared with the results of the
thermal cycle obtained through the data logger. Through the metallographic analysis,
the mechanical properties and microstructure of the 316L stainless steel fabricated by
WAAM were explored. As for the result, it shows that WAAM made of SS316L
contains large number of delta ferrite and as the layers increased, the formation of the
microstructure is lesser. As heat affects the formation of grain, controlling the
temperature during welding process is a crucial aspect.
 TABLE OF CONTENT

CONTENT PAGE
TITLE
ACKNOWLEDGEMENT
ABSTRACT
LIST OF TABLES
LIST OF FIGURES
LIST OF ABBREVIATIONS

CHAPTER 1 INTRODUCTION

1.1 Introduction
1.2 Background of Study
1.3 Problem Statements
1.4 Objectives of the Study
1.5 Scope of Work

CHAPTER 2 LITERATURE REVIEW

2.1 Overview of WAAM

2.2 History of WAAM

2.3 Advantages and Disadvantages of WAAM

2.4 Austenitic Stainless Steel 316L

2.5 Robotic Welding

2.6 Gas Metal Arc Welding (GMAW)

2.7 Welding Parameters of WAAM

2.8 WAAM of SS316L and Its Composition

2.9 Microstructure of WAAM When SS316L Used as Filler Material

2.10 Heat distribution in WAAM process

CHAPTER 3 METHODOLOGY

3.1 Introduction

3.2 Methodology Flowchart

3.3 Gathering Information

3.4 Findings The Best Parameters

3.5 Preparing The Base Material

3.6 Robotic Welding Process

3.7 Thermocouple Preparation

3.8 Metallographic of WAAM Specimen

CHAPTER 4 RESULTS AND DISCUSSION

4.1 Overview

4.2

4.3

4.4

4.5

4.6

CHAPTER 5 CONCLUSION AND RECOMMENDATION

5.1 Conclusion

5.2 Recommendation

REFERENCES

APPENDICES
LIST OF TABLES
LIST OF FIGURES
LIST OF ABBREVIATIONS
 CHAPTER 1

INTRODUCTION

1.1 Introduction

As a rapid prototyping technology, Additive Manufacturing (AM) is a

promising manufacturing technology to build objects layer by layer. Based on the
nature of AM, different metal materials or plastic and other adhesive materials could
be fabricated by this technology. Compared with the traditional manufacturing
methods, AM method can effectively save the processing time cost, reduce the
amount of post-processing time as there is no need of mould preparation, also can
reduce the waste of materials and improve the utilization of materials.
 WAAM adapts the multi-layered welding as its base operation model of
which similar with a 3D printing technique. Due to its nature, WAAM able to
produce components in shorter time when compared to other process. These
techniques are attracting interest from the manufacturing industry because of their
potential to fabricate large metal components with low cost and short production lead
time. To understand the fundamentals of WAAM, the behaviour of a single-string,
multi-layer structure is widely studied focusing on numerous aspects such as
modelling, design, residual stress development and distribution, welding process
variations and many more.

1.2 Background of Project

The microstructure of a material such as metals, polymers, ceramics or

composites can strongly influence physical properties such as strength, toughness,
ductility, hardness, corrosion resistance or wear resistance. Hence by study the
microstructure, we can predict the behaviour of a component made of from the
certain materials and predict the failure of a component in certain conditions. As
microstructure is one of the most important aspects that affect the physical properties
of the metal or alloy, it is essential to study it apart from study the physical properties
itself.

In this project, WAAM is used to fabricate a SS316L specimen by using

robotic welding process. The parameters used in the robotic welding will be obtain
through experimental process. During the welding process, thermocouple will be
attach to the base metal to study the heat distribution. Metallographic test will be
performed to study the formation of microstructure of the specimen.
1.3 Problem Statements

Despite it great benefits, WAAM components are affected by severe

distortions and residual stresses issues. In WAAM, the building strategy consists in
the deposition of a series of single weld beads, one on the other, alternating pauses of
cooling with deposition steps. The following work is based on the deposition of
successive layers of low carbon steel. Heating and cooling phases of the process
affects the microstructure and the mechanical characteristics of product; that have a
strong influence on issues like material machinability and fatigue strength.

The main question when performing this project is how a system of robotic
welding can help in welding and determine the welding parameters for the specimen.
The WAAM specimen that made off single bead with multi-layered will be studied
focusing on the microstructure development when the welding layers are increasing.

1.4 Objectives of The Study

This study aims to:

i. To obtain the best parameters of robotic welding when Stainless Steel 316L is
used as the filler material and mild steel as the base material to fabricate the
WAAM.
i. To study the grain growth of the microstructure of the single string with
multi-layered WAAM
ii. To study the heat distribution during the WAAM process.
1.5 Scope of Work

The scope of this project is :

i. The filler material is Austenitic Cr-Ni Stainless Steel (316L)

ii. Doing experimental work using ABB Robotic Welding to find the best
welding parameters.
iii. Inspection of microstructure of the WAAM specimen
iv. Study of heat distribution on the plate or parent metal by thermocouple.

The experimental work of this project will be done at the Mechanical Workshop,
Robotic Welding Workshop and Material Laboratory located at Faculty of
Mechanical Engineering, UiTM Shah Alam. The welding process that will be use is
GMAW with Argon.
 CHAPTER 2

LITERATURE REVIEW

2.1 Overview of WAAM

WAAM is stand for Wire Arc Additive Manufacturing. It is a combination of

an electric arc that fuctioned as the heat source and wire is used as the feedstock. The
first pattern of WAAM was filed in 1925 by Baker and followed by Shocky and Ujiie
[1]. However only after 1990s it has been investigated for additive manufacturing
purpose [2][3]. WAAM hardware currently uses standard, off the shelf welding
equipment: welding power source, torches and wire feeding systems. Motion can be
provided either by robotic systems or computer numerical controlled gantries.
Whenever possible, GMAW is the process of choice: the wire is the consumable
electrode, and its co-axiality with the welding torch results in easier tool path [4].
WAAM adapts the multi-layered welding as its base operation model of which
similar with a 3D printing technique. It create components through the deposition of
material layer by layer. Due to its nature, WAAM able to produce components in
shorter time when compared to other process. These techniques are attracting interest
from the manufacturing industry because of their potential to fabricate large metal
components with low cost and short production lead time.

2.2. History of WAAM

2.3 Advantages and Disadvantages of WAAM
2.4 Austenitic Stainless Steel 316L
2.5 Robotic Welding
2.6 Gas Metal Arc Welding (GMAW)
2.7 Welding Parameters of WAAM
2.8 WAAM of SS316L and its composition
2.9 Grain growth in WAAM
2.10 Heat distribution in WAAM process
 CHAPTER 3

METHODOLOGY

3.1 Introduction

This experimental consist of robotic welding practices to fabricate the

WAAM specimen and mainly focused on the metallographic process of the
specimen. The first step taken in this experiment was finding the best parameters of
the robotic welding. The parameters were than used to fabricate WAAM specimen
that then ready to be cut and performed metallographic test to study the
microstructure and the composition of the welded part. The process flow for this
experiment is shown in the methodology chart below.
3.2 Methodology Chart

START

PROBLEM IDENTIFICATION AND

GATHERING INFORMATION

START PROCESS OF SELECTING THE

BEST WELDING PARAMETERS

PREPARATION OF THE ROBOTIC

WELDING PROCESS

START THE WELDING PROCESS ON

THE SPECIMEN WITH THERMOCOUPLE
ATTACHED

NO
VISUAL
INSPECTION

PREPARING THE SPECIMEN FOR THE

METALLOGRAPHIC TEST

ANALYZE THE RESULTS

THESIS WRITING

END
D
3.3 Gathering information

The reviewed study sources are mainly focus on metallographic of WAAM

for material of SS316L when fabricated by robotic welding powered by GMAW.
This step is focused on collecting information from previous researches of many
sources such as books, journal, articles and other sources. As for the process of
preparing the specimen, a consultation from lecturer is taken.

3.4 Finding the best parameters

The parameters used for the robotic welding process in the preparation of the
WAAM specimen were obtained by experimental practices. As SS316L is expensive
and limited sources of the material in the workshop, hence cheaper material; stainless
steel 304L and 308L were used as practices to obtain the nearest parameters. After
successfully obtained the best parameters, the parameters were then used as
references in finding the parameters for SS316L: since Austenitic Cr-Ni Stainless
steel family have nearly the same characteristics and properties.

Figure 3.1: Specimens of WAAM practices by using SS308L

 The parameters chosen based on the model of the WAAM produced. The
parameters that give the best WAAM model are chosen and lastly the best WAAM
specimen will undergo metallurgy process to observe the deformation of the
macrostructures.

3.5 Preparing the base material

In this study, Austenitic Cr-Ni SS316L is used as the filler material and mild
steel is used as the base material. The dimension of the plate used as the base
material is approximately 300mm x 97mm with the thickness of 8.5mm.

Figure 3.2: Dimension of the base material (Mild Steel)

3.6 Robotic welding Process

The ABB IRB 2400/16 is the robotic welding used for this experimental
process equipped with GMAW power source KEMMPI Pro Evolution ProMIG
540MXE. The plate is clamped at all corners to minimize the distortion of the plate.
 Figure 3.3: Clamping of the base material

The robot was programmed to weld a WAAM specimen of single bead that
consist of 5 layers with different length. The arc end of the layers is 25mm from the
right end of the plate.

Table 3.1: Position of the arc start and length of the weld
Arc start position form the left end of Length of the weld
the plate (mm) (mm)
25 250
75 200
125 150
175 100
225 50
 Fifth layer

Fourth layer
Third layer

Second
layer
First layer

Base Material

Figure 3.4: Diagram of WAAM specimen after being welded on the base material

The parameters used were as below;

Table 3.2: Robotic welding parameters used

Parameter Value
Voltage (V) 19.8
Current (A) 172
Welding Speed (m/min) 6.4

The welds were let to cool for 2 minutes before perform another layer above
them except for 2nd layer with holding time approximately 5 minutes.

3.7 Thermocouple preparation

The thermocouples were connected to Kyowa data logger and to the plate
(base material). The first channel was attached at 10mm beside the expected weld
bead and 10 mm from the first arc start point. The second channel was attached at the
middle with 10mm beside the expected weld bead. Meanwhile the third channel was
attached at 10mm from the expected weld bead and 10mm from the arc end point.
The data logger was connected to a computer to record the reading.
 Figure 3.5: Connection of thermocouples and data logger

3.8 Metallographic of WAAM specimen

This process is conducted in Material Science Lab to study the microstructure

of the WAAM specimen.

Figure 3.6: WAAM specimens (top from left: 1 layer, 2 layers, Centre: 3 layers,
Bottom from left: 4 layers and 5 layers)

Cutting, mounting, grinding, polishing, and etching process were performed

and lastly Axial Plane Optical Microscope is used to study the microstructure of the
specimen. Scanning electron microscope (SEM) is used to investigate the
composition of WAAM specimen and the composition of the SS316L wire.
3.8.1 Cutting Process

This process is done by using abrasive cutter. The WAAM specimen is cut
into five specimens, at the middle of each arc start of the layers.

Figure 3.7: Abrasive cutter (left) and the marking before cutting process (right)

3.8.2 Mounting process

By using mounting machine, the specimens were mounting to make it easy to

hold the specimen during grinding and polishing process later. Hot mounting is
chosen because it took shorter time to perform compare to cold mounting.

Figure 3.8: Mounting machine

3.8.3 Grinding process

 This process is done by using grinding machine. The specimen is grinded by
using waterproof sand paper made of silicon carbide starting from the lowest grid,
280, followed by 320, 400, 600, and lastly 1200 with 5-6 minutes each. This
processes are performed to get rid of scratch on the surface of the specimen upon the
cutting process.

Figure 3.9: Grinding machine (left) and waterproof paper made of silicon carbide

3.8.4 Polishing process

This process is done by using polishing machine. The grinded specimens are
polish by using alumina powder with different size started from the large size, 9µm,
followed by 5µm, 3µm and lastly 1µm. Each process took around 5-6 minutes in
order to get a shining surface before proceed with etching process to reveal the
microstructure of the specimens.

Figure 3.10: Polishing machine (left) and alumina powder (right)

3.8.5 Etching process

 By using Kalling’s No.2 solution, the specimens are etched for 6-9 seconds.
Over etch can lead to regrinding of the specimen as the surface burned and we cannot
see the microstructure clearly if the etching time is too short.

Figure 3.11: Kalling’s No.2 solution for etching process

3.8.6 Observation of the microstructure

This process is done by using optical light microstructure with magnification

of 10x. There are three zones that being observed which are upper zone, middle zone
and lower zone.

First layer
Base metal

Figure 3.12: 1 layer WAAM

 Third layer

Second layer

Third layer

Base metal

Fig 3.13: 3 Layer WAAM

Fifth layer

Fourth layer

Third layer

Second layer

First layer

Base metal

Fig 3.14: 5 Layer WAAM

Figure 3.15: Light microscope

 CHAPTER 4

RESULT AND ANALYSIS

4.1 Introduction

In this chapter, the result of the metallographic will be discussed. In addition,

the result obtained by the thermocouple will be relate to the formation of the
microstructure. At the same time, the composition of the WAAM specimen also will
be discussed.

4.2 Metallographic Results

4.2.1 1 Layer WAAM

For 1 layer, the upper zone shows that the grain size formed were large
compare to the lower zone. The delta ferrite formed along the austenite grains. The
formation of the delta ferrite are continous and form a cellular grain of austenite.

Figure 4.1: Upper zone of 1 Layer WAAM

Figure 4.2: Middle zone of 1 Layer WAAM

 Figure 4.3: Lower zone of 1 layer WAAM

4.2.2 3 Layers WAAM

For 3 layers, the boundary between the layer is clearly seen as the grain
between the layer are different in size and orientation. Meanwhile, the upper zone of
second layer shows less grain formation as the delta ferrite break up. The lower zone
of the third layer shows massive grain formation with different orientation compare
to the other zone.

Figure 4.4 Transition area of 1st layer and 2nd layer in 3 Layers WAAM
 Figure 4.5: Transition area of 2nd layer and 3rd layer in 3 Layers WAAM

In the first layer, the grains size in the upper zone were reduce compare to
Figure 4.1 when they are in 1 layer specimen. At the same time, at the middle zone
and lower zone the grains elongated and the size were slightly the same as in Figure
4.2 and Figure 4.3.

Figure 4.6: Upper zone of the 1st layer in 3 Layers WAAM

 Figure 4.7: Middle zone of the 1st layer in 3 Layers WAAM

Figure 4.8: Lower zone of the 1st layer in 3 layers WAAM

In the third layer of 3 layers specimen, the upper zone shows that the grain
were large which is almost the same size with upper zone of 1 layer in Figure 4.1.
Meanwhile, in the middle zone, instead of grain formation, there are sea of delta
ferrite. At lower zone of the third layer shows that there are formation of different
size and orientation of grains and detla ferrite.
 Figure 4.9: Upper zone of the 3rd layer in 3 layers WAAM

Figure 4.10: Middle zone of the 3rd layer in 3 layers WAAM

Figure 4.11: Lower zone of the 3rd layer in 3 layers WAAM

4.2.3 5 Layers WAAM

For 5 layers specimen,the formation of grains were lesser compare to other

specimens. In the boundary or transition zone of the layers, it shows that there are
slightly different pattern of microstructure.

Figure 4.11: Transition area of 1st and 2nd layer in 5 Layers WAAM

Figure 4.12: Transition area of 2nd and 3rd layer in 5 Layers WAAM
 Figure 4.13: Transition area of 3rd and 4th layer in 5 Layers WAAM

Figure 4.14: Transition area of 4th and 5th layer in 5 Layers WAAM

For the first layer of this specimen, it shows that the grain elongated more in
all zone compare to when it is in Figure 4.1, Figure 4.2, Figure 4.3, Figure 4.6,
Figure 4.7 and Figure 4.8. The grain boundary also formed in the upper zone.
Figure 4.15: Upper zone of the 1st layer in 5 Layers WAAM

Figure 4.16: Middle zone of the 1st layer in 5 Layers WAAM

Figure 4.17: Lower zone of the 1st layer in 5 Layers WAAM

 As for the third layer, there are no more grain formation as in Figure 4.9 at
the upper zone. In the middle zone and lower zone, the grain elongated.

Figure 4.18: Upper zone of the 3rd layer in 5 Layers WAAM

Figure 4.19: Middle zone of the 3rd layer in 5 Layers WAAM

 Figure 4.20: Lower zone of the 3rd layer in 5 Layers WAAM

Meanwhile, for the fifth layer or the top layer of this specimen shows no
massive grain growth as the top layer for 1 layer, Figure 4.1 and 3 layers specimen,
Figure 4.9. The formation of delta ferrite occured at all zones of the fifth layer.

Figure 4.21: Upper zone of the 5th layer in 5 Layers WAAM

 Figure 4.22: Middle zone of the 5th layer in 5 Layers WAAM

Figure 4.23: Lower zone of the 5th layer in 5 Layers WAAM

For all specimens, upper zone of the upper layer; Figure 4.1,Figure 4.6 and
Figure 4.21, the weld contain lesser amounts of delta ferrite but the size were bigger
and continous. This happened because the cooling rate on the upper zone of these top
layers is higher compare to other zone [6]. Meanwhile, for other zones, formation of
fine and discontinous delta ferrite. This phenomenon is associated with slower
cooling rate in the zones due to the preheating resulted from prior weld passes [9].
The growth process of the grains occurs after recrystallization and depends on the
temperature, the time and the chemical composition of the steel [5][10].

The subsequences welding process in WAAM requires the previous welds to

heat up and melt [11]. During this process, the microstructure undergoes multiple-
phase transformation. However, the higher the wall of the WAAM, the less the heat
affects the lower layers. This is because the heat source is getting far from them.

4.3 Heat Distribution

Figure 4.24: Heat distribution reading capture by thermocouple

The highest temperature captured by the thermocouple was approximately

800 celcius while it at layer 3. As in Figure 4.6, the upper layer of the top layer
shows a large cellular grain. For layer 2 that being let to cool longer compare to
others layer, the microstructure shows a massive orientation with fine dendrite
among them and we can see it clearly under 10x magnification.
 Figure 4.25: 2nd layer in 3 layers WAAM with M10x

However, when more layers are weld above it, the microstructure transform
into discontinous delta ferrite. As the temperature reading around 600 celcius for 4th
and 5th layer, the microstructure shows a more stable orientation with discontinious
delta ferrite in all zone of the weld.

4.4 Composition of the WAAM

Meanwhile, after being observed under scanning electron microscope, it

observed that the composition of the SS316L changed a little in the transition area of
the layers. By looking at the graph in Figure 4.26 and Figure 4.27, they show that the
contain of molybdenum and chromium decrease. Molybdenum is a ferrite former, it
was added to improve the corrosion resistance of an austenitic stainless steel[7], [12].
In order to keep the structure of austenitic, austenite former such as nickel was
added.
 Figure 4.26: Composition of the SS316L wire

Figure 4.27: Composition of the transition area of the WAAM

As the contain of molybdenum is decrease the corrosion resistance properties of

the materials also decrease. However, in this WAAM process the difference in the
value is not that large enough to make the specimen corrode when get in touched
with corrosion agent such as water. Unfortunately, as the base material is mild steel it
reacts faster to corrosion. The corrosion in the base material does not affect the upper
layer of the WAAM. The result of visual inspection during grinding process shows
that the lower layer tends to corrode as the base material corrode.
 CHAPTER 5

CONCLUSION AND RECOMMENDATION

5.1 Conclusion

Overlapping welding will affect the transformation of the microstructure due

to the continuous thermal contact in WAAM at each layer of welding process. As the
heat source getting far from the previous welds, their microstructure gradually starts
to undergo less formation of grain. However, when the weld let cool for too long
before performing another layer above it, the microstructure shows a massive
orientation of grain with fine dendrite among them. Hence, the growth process of the
grain depends on the temperature and the cooling time.
 Furthermore, the microstructures of all layer always austenite with a few
percent of delta-ferrite at the dendritic boundary. The parameters used in this study
lead to no weld solidification cracking as no of it were observed in any specimen or
in the transition of the layers. Lastly, the composition of the molybdenum decreases a
little in the transition area of the layers.

5.2 Recommendations

As the industry in Malaysia starting to develop into industry 4.0, automation

in welding process should also be taken into serious consideration. WAAM is a
technology that can reduce the production time and most importantly, it can reduce
the cost of production as it required no mould to farbricate components. Not many
research regarding microstructure of SS316L in WAAM are done as researcher tend
to go for cheaper material and they tend to focus on physical aspect of the WAAM
such as tensile strength and fatigue test. There are few actions can be taken in order
to improve the quality of research in future;

5.2.1: Add Diversity to The Welding Process of The Robot

The Faculty of Mechanical Engineering (FKM) of UiTM Shah Alam should

take into consideration of installing another welding process equipment to the robot
apart from GMAW process only. In industry, welding process such as GTAW
process have been practice widely apart from GMAW process as the ablity of it to
give fine finished product compare to other process. In addition, students can
practice to use this robot as a platform for them to familiar themselves with this
technology before entering the industry.
5.2.2 Practice good maintenance Scheme for the Robot

As there is one and only robot that is available for the robotic welding
process in the lab, any problem or breakdown of the robot can affect the schedule of
the research. Furthermore, the maintenance cost of the robot is very expensive. A
good maintenance scheme will help to ensure the robot in a good condition and
always be ready for the experimental process.

5.2.3 Provide Schedule For the Robotic Welding

All students of FKM shared one robot to perform robotic welding as there is
only one robot that is available in the faculty. Hence, the faculty should have
structured a well planned schedule for the usage of the robot. A technician also
should always ready to monitor the activity of the student when using the robot to
prevent misusage or unwanted emergency arise that affect the condition of the robot.
REFERENCES