{
  "abstract": "An adaptive tool holder of a robotic arm includes: a tool shank; a hollow barrel seat, connected below the tool shank; a ball spline with an upper section, an outer convex ring and a lower section; a spring seat, disposed within the barrel seat and located on the upper section of the ball spline; an elastic element, disposed within the barrel seat, where both ends of the elastic element abut against a bottom of the tool shank and the spring seat respectively; a spring guide pin, disposed through the spring seat; a connecting post, disposed within the lower section of the ball spline, where a top of the connecting post is connected and fixed to the spring guide pin; and a friction stir welding tool inserted and fixed detachably at a bottom end of the connecting post.",
  "assignees": [
    "UNIV NAT CHUNG CHENG"
  ],
  "authors": [
    "LIN PAI-CHEN",
    "Zhuang zhen-wei"
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  "source_date": "2026-03-24",
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  "title": "Adaptive tool holder for robotic arm",
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