Fig. 1. Structure of assemble part

Fig. 2. Structure of the assembly and welding system

Fig. 3. Structural diagram of adsorption clamp of pendulum

Fig. 4. Suspension wire perforation and pendulum assembly process

Fig. 5. Welding module composition structure

Fig. 6. Diagram of control system hardware connection

Fig. 7. Assembly system control software layered architecture

Fig. 8. Assembly system control software

Fig. 9. Control curve of suspension tension

Fig. 10. Surface to be welded is tinned

Fig. 11. Fluent comparison of phase change simulation results

Fig. 12. Phased， positional， speed welding strategy

Fig. 13. Welding optimization compares experimental results

Fig. 14. [in Chinese]

Fig. 15. Flowchart of automated welding