Following on post and a YouTube video by Fran, I tried my hand at friction welding. It works, but you need to practice.
Chuck up a straightened piece of ABS filament about five centimeter long in a Dremel tool such that about three or four centimeters are visible. Turn on the dremel tool at medium speed and drag the spinning plastic backwards along the joint to be welded making little circular motions.
The plastic will liquefy, there's a bit of a burnt plastic smell and then the parts are joined. The laminations of the printed part may come apart if you're too rough with it, so practice on some scraps first.
Follow welding best practices where possible, i.e. it's best in a corner between two pieces to be joined, and avoid butt welding like that shown below.
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