An innovative joint interface design for reducing intermetallic compounds and improving joint strength of thick plate friction stir welded Al/Mg joints

Friction stir welding of dissimilar Al/Mg thick plates still faces severe challenges, such as poor formability, formation of thick intermetallic compounds, and low joint strength. In this work, two joint configurations, namely inclined butt(conventional butt) and serrated interlocking(innovative butt), are proposed for improving weld formation and joint quality. The results show that a continuous and straight intermetallic compound layer appears at the Mg side interface in conventional butt joint, and the maximum average thickness reaches about 60.1 μm.Additionally, the Mg side interface also partially melts, forming a eutectic structure composed of Mg solid solution and Al_(12)Mg_(17) phase.For the innovative butt joint, the Mg side interface presents the curved interlocking feature, and intermetallic compounds can be reduced to less than 10 μm. The joint strength of innovative butt joint is more than three times that of conventional butt joint. This is due to the interlocking effect and thin intermetallic compounds in the innovative joint.

Comprehensive study of microstructure and mechanical properties of friction stir welded 5182-O/HC260YD+Z lap joint

The welding of aluminum(Al)and steel has attracted more and more interest due to the weight reduction trend in vehicle and aerospace manufacturing industries.5182-O/HC260YD+Z lap joint was produced by friction stir welding(FSW),and the microstructure and mechanical property of the joint were systemically characterized.The microstructure in horizontal direction of the Al and steel near interface was similar to their corresponding conventional friction stir welded joint.The joint was divided into stir zone of Al(ST-Al),stir zone of interface(ST-I),thermal-mechanically affected zone of steel(TMAZ-Fe)and base material of steel(BM-Fe)according to their distinct microstructure vertically.Three kinds of intermetallic compounds(IMCs)of FeAl_(3),FeAl and Fe_(3)Al were formed at the interface.The horizontal micro hardness distribution exhibited a hat shape and“M”shape in Al and steel,respectively.The hardest region of the joint was located at the ST-I,with a hardness of 175 HV−210 HV.The joint was fractured along the hook structure,with an average shear strength of 73.9 MPa.Fractural morphology of Al and steel indicted a cleavage fracture mode.

Mechanical strength and corrosion resistance of Al-additive friction stir welded AZ31B joints

Compared to other structural alloys,magnesium alloys have a relatively poor corrosion resistance and low mechanical strength,which can be further deteriorated when these alloys are subjected to joining processes using the existing joining methods.Herein,we propose for the first time an additive friction stir-welding(AFSW)using fine Al powder as an additive to improve the mechanical strength as well as corrosion resistance of AZ31B weld joints.AFSW is a solid-state welding method of forming a high-Al AZ31B joint via an in-situ reaction between pure Al powders filled in a machined groove and the AZ31B matrix.To optimize the process parameters,AFSW was performed under different rotational and transverse speeds,and number of passes,using tools with a square or screw pin.In particular,to fabricate a weld zone,where the Al was homogenously dispersed,the effects of the groove shape were investigated using three types of grooves:surface one-line groove,surface-symmetric grooves,and inserted symmetric grooves.The homogenous and defect-less AFS-welded AZ31B joint was successfully fabricated with the following optimal parameters:1400 rpm,25 mm/min,four passes,inserted symmetric grooves,and the tool with a square pin.The AFSW fully dissolved the additive Al intoα-Mg and in-situ precipitated Mg_(17)Al_(12)particles,which was confirmed via scanning electron microscopy,transmission electron microscope,and X-ray diffraction analyses.The microhardness,joint efficiency,and elongation at the fracture point of the AFS-welded AZ31B joint were 80 HV,101%,and 8.9%,respectively.These values are higher than those obtained for the FS-welded AZ31 joint in previous studies.The corrosion resistance of the AFS-welded AZ31B joint,evaluated via hydrogen evolution measurements and potentiodynamic polarization tests,was enhanced to 55%relative to the FS-welded AZ31B joint.

Microstructure and mechanical properties of dissimilar pure copper/1350 aluminum alloy butt joints by friction stir welding

The dissimilar friction stir welding of pure copper/1350 aluminum alloy sheet with a thickness of 3 mm was investigated. Most of the rotating pin was inserted into the aluminum alloy side through a pin-off technique, and sound welds were obtained at a rotation speed of 1000 r/min and a welding speed of 80 mm/min. Complicated microstructure was formed in the nugget, in which vortex-like pattern and lamella structure could be found. No intermetallic compounds were found in the nugget. The hardness distribution indicates that the hardness at the copper side of the nugget is higher than that at the aluminum alloy side, and the hardness at the bottom of the nugget is generally higher than that in other regions. The ultimate tensile strength and elongation of the dissimilar welds are 152 MPa and 6.3%, respectively. The fracture surface observation shows that the dissimilar joints fail with a ductile-brittle mixed fracture mode durin~ tensile test.

Interface characteristic of friction stir welding lap joints of Ti/Al dissimilar alloys

Lap joints of TC1 Ti alloy and LF6 A1 alloy dissimilar materials were fabricated by friction stir welding and corresponding interface characteristics were investigated. Using the selected welding parameters, excellent surface appearance forms, but the interface macrograph for each lap joint cross-section is different. With the increase of welding speed or the decrease of tool rotation rate, the amount of Ti alloy particles stirred into the stir zone by the force of tool pin decreases continuously. Moreover, the failure loads of the lap joints also decrease with increasing welding speed and the largest value is achieved at welding speed of 60 mm/min and tool rotation rate of 1500 r/min, where the interracial zone can be divided into 3 kinds of layers. The microhardness of the lap joint shows an uneven distribution and the maximum hardness of HV 502 is found in the middle of the stir zone.

Joint torque-based Cartesian impedance control with friction compensations

In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.

Effect of intermetallic compounds on the fracture behavior of dissimilar friction stir welding joints of Mg and Al alloys

Joining Mg to Al is challenging because of the deterioration of mechanical properties caused by the formation of intermetallic compounds(IMCs) at the Mg/Al interface. This study aims to improve the mechanical properties of welded samples by preventing the fracture location at the Mg/Al interface. Friction stir welding was performed to join Mg to Al at different rotational and travel speeds. The microstructure of the welded samples showed the IMCs layers containing Al12Mg17(γ) and Al3Mg2(β) at the welding zone with a thickness(< 3.5 μm). Mechanical properties were mainly affected by the thickness of the IMCs, which was governed by welding parameters. The highest tensile strength was obtained at 600 r/min and 40 mm/min with a welding efficiency of 80%. The specimens could fracture along the boundary at the thermo-mechanically affected zone in the Mg side of the welded joint.

Influence of tool pin profile on the interface migration of friction stir lap joints＊

Friction stir lap joints of LY12 aluminum alloy plates with a thickness of 3 mm were fabricated using several tools with different pin profiles. The effects of tool pin profile on the interface migration of friction stir lap joints were investigated with the comparison of weld morphologies. The results show that the screw thread of the pin plays an important role in the migration of weld interface in the thickness direction. The interface between the sheets will move upwards to the top of the plate when the pin with left hand thread was used. Conversely, the interface will move downwards to the tip of the pin when the pin with right hand thread was used： As for a stir pin with smooth surface was used, the upward or downward migration of the weld interface was largely reduced, but the extension of weld interface to the weld center line from the retreating side becomes more serious. By analyzing the force on the pin according to the sucking-extruding theory for the weld formation, the obtained results have been well explained.

Comparison and analysis of two Coulomb friction models on the dynamic behavior of slider-crank mechanism with a revolute clearance joint

The objective of this study is to investigate the effects of the Coulomb dry friction model versus the modified Coulomb friction model on the dynamic behavior of the slider-crank mechanism with a revolute clearance joint. The normal and tangential forces acting on the contact points between the journal and the bearing are described by using a Hertzian-based contact force model and the Coulomb friction models, respectively.The dynamic equations of the mechanism are derived based on the Lagrange equations of the first kind and the Baumgarte stabilization method. The frictional force is solved via the linear complementarity problem(LCP) algorithm and the trial-and-error algorithm.Finally, three numerical examples are given to show the influence of the two Coulomb friction models on the dynamic behavior of the mechanism. Numerical results show that due to the stick friction, the slider-crank mechanism may exhibit stick-slip motion and can balance at some special positions, while the mechanism with ideal joints cannot.

Microstructure and mechanical properties of dissimilar pinless friction stir spot welded 2A12 aluminum alloy and TC4 titanium alloy joints

The microstructure and mechanical properties of dissimilar pinless friction stir spot welded joint of2A12aluminum alloy and TC4titanium alloy were evaluated.The results show that the joint of Al/Ti dissimilar alloys can be successfully attained through pinless friction stir spot welding(FSSW).The joint can be divided into three zones(SZ,TMAZ and HAZ).The microstructure of joint in Al alloy side changes significantly but it basically has no change in Ti alloy side.At the same rotation speed,the maximum load of welded joints gradually rises with the increase in dwell time.At the same dwell time,the maximum load of the welded joint increases with the increase of the rotational speed.In addition,optimal parameters were obtained in this work,and they are rotation speed of1500r/min,plunge speed of30mm/min,plunge depth of0.3mm and dwell time of15s.The fracture mode of welded joints is interfacial shear fracture.The microhardness of the joint on the Al side distributes in a typical“W”type and is symmetry along the weld center,but the distribution of the microhardness on the Ti side has no obvious change.

Electrochemical corrosion behaviour of stir zone of friction stir welded dissimilar joints of AA6061 aluminium-AZ31B magnesium alloys

Joining of dissimilar metals will offer many advantages in transportation sectors such as fuel consumption,weightreduction and emission reduction.However,joining of aluminium(Al)alloys with magnesium(Mg)alloys by fusion welding processis very complicated.Friction stir welding(FSW)is a feasible method to join these two dissimilar alloys.Mixing these two metalstogether in stir zone(SZ)leads to poor corrosion resistance.In this investigation,an attempt has been made to understand thecorrosion resistance of SZ of FSWed dissimilar joints of AA6061Al alloy and AZ31B Mg alloy.Potentiodynamic polarization testwas conducted by varying chloride ion concentration,pH value of the NaCl solution and exposure time.The corroded surfaces wereanalyzed using optical microscopy,scanning electron microscopy and XRD techniques.Of these three factors investigated,exposuretime is found to be the most significant factor to influence the corrosion behaviour of SZ of friction stir welded dissimilar joints ofAl/Mg alloys.

Microstructure and tensile properties of friction stir welded dissimilar AA6061-AA5086 aluminium alloy joints

The fusion welding of dissimilar heat treatable and non-heat treatable aluminium alloy faced many problems related to solidification. The difficulties can be overcome to achieve the combined beneficial properties of both aluminium alloys using friction stir welding(FSW). The microstructural features and tensile properties of friction stir welded(FSW) similar and dissimilar joints made of AA6061 and AA5086 aluminium alloys were investigated. The microstructures of various regions were observed and analyzed by means of optical and scanning electron microscopy. Microhardness was measured at various zones of the welded joints. The tensile properties of the joints were evaluated and correlated with the microstructural features and microhardness values. The dissimilar joint exhibits a maximum hardness of HV 115 and a joint efficiency of 56%. This was attributed to the defect free stir zone formation and grain size strengthening.

Corrosion behavior of the friction-stir-welded joints of 2A14-T6 aluminum alloy

The corrosion behavior of friction-stir-welded 2A14-T6 aluminum alloy was investigated by immersion testing in immersion exfoliation corrosion（EXCO） solution. Electrochemical measurements（open circuit potential, potentiodynamic polarization curves, and electrochemical impedance spectroscopy）, scanning electron microscopy, and energy dispersive spectroscopy were employed for analyzing the corrosion mechanism. The results show that, compared to the base material, the corrosion resistance of the friction-stir welds is greatly improved, and the weld nugget has the highest corrosion resistance. The pitting susceptibility originates from the edge of Al-Cu-Fe-Mn-Si phase particles as the cathode compared to the matrix due to their high self-corrosion potential. No corrosion activity is observed around the θ phase（Al2Cu） after 2 h of immersion in EXCO solution.

Role of friction stir welding parameters on tensile strength of AA6061-B_4C composite joints

Friction stir welding（FSW） is a solid state joining technique developed to join high strength aluminum alloys and various ceramic reinforced metal matrix composites（MMCs）.FSW produces sound welds in MMCs without any deleterious reaction between reinforcement and matrix.The present work focused on the effect of FSW parameters on the tensile strength of Al-B4C composite joints.The central composite design of four factors and five levels was used to control the number of experiments.A mathematical model was developed to analyze the influence of FSW parameters.The results indicated that the joint fabricated using rotational speed of 1000 r/min,welding speed of 1.3 mm/s,axial force of 10 kN and the reinforcement of 12% showed larger tensile strength compared with the other joints.The developed model was optimized to maximize the tensile strength using generalized reduced gradient method.The metallographic analysis of the joints showed the presence of various zones such as weld nugget（WN） zone,thermo mechanically affected zone（TMAZ） and heat affected zone（HAZ）.The substantial grain refinement of aluminum matrix as well as significant size reduction of B4C particles was observed in the weld nugget.TMAZ was plastically deformed,thermally affected and exhibited elongated aluminum grains.

Corrosion evaluation of friction stir welded lap joints of AA6061-T6 aluminum alloy

Corrosion behavior of friction stir lap welded AA6061-T6 aluminum alloy was investigated by immersion tests in sodium chloride + hydrogen peroxide solution. Electrochemical measurement by cyclic potentiodynamic polarization, scanning electron microscopy, and energy dispersive spectroscopy were employed to characterize corrosion morphology and to realize corrosion mechanism of weld regions as opposed to the parent alloy. The microstructure and shear strength of welded joint were fully investigated. The results indicate that, compared with the parent alloy, the weld regions are susceptible to intergranular and pitting attacks in the test solution during immersion time. The obtained results of lap shear testing disclose that tensile shear strength of the welds is 128 MPa which is more than 60% of the strength of parent alloy in lap shear testing. Electrochemical results show that the protection potentials of the WNZ and HAZ regions are more negative than the pitting potential. This means that the WNZ and HAZ regions do not show more tendencies to pitting corrosion. Corrosion resistance of parent alloy is higher than that for the weldments, and the lowest corrosion resistance is related to the heat affected zone. The pitting attacks originate from the edge of intermetallic particles as the cathode compared with the Al matrix due to their high self-corrosion potential. It is supposed that by increasing intermetallic particle distributed throughout the matrix of weld regions, the galvanic corrosion couples are increased, and hence decrease the corrosion resistance of weld regions.

Modeling joints with clearance and friction in multibody dynamic simulation of automotive differentials

Defects in kinematic joints can sometimes highly influence the simulation response of the whole multibody system within which these joints are included. For instance, the clearance, the friction, the lubrication and the flexibility affect the transient behaviour, reduce the component life and produce noise and vibration for classical joints such as prismatics, cylindrics or universal joints.In this work, a new 3D cylindrical joint model which accounts for the clearance, the misalignment and the friction is presented. This formulation has been used to represent the link between the planet gears and the planet carrier in an automotive differential model. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi：10.1063/2.1301303]

Fabrication and performance evaluation of dissimilar magnesium-aluminium alloy multi-seam friction stir clad joints

This investigation is aimed to establish empirical relationships between continuous multi-seam friction stir cladding process parameters （i.e., rotational speed, welding speed and shoulder overlap ratio） and the quality characteristics （bond tensile strength, shear strength and corrosion） of dissimilar magnesiurn-aluminium alloy clad joints. The influence of considered process parameters on the clad properties was reported. Furthermore, multi-criterion optimization procedure was used to obtain ideal processing conditions, which can yield higher interface strength and lower corrosion rate of fabricated composite plate. Results indicate that, the aluminium-rich thin continuous layer, Mg-rich irregular shaped regions consists of A13Mg2 and Al12Mg17 interraetallic compounds and nature of mechanical interlocking has great influence on the joint interface strength. On the other hand, the corrosion resistance of the clad joints is greatly affected by the amount of magnesium mixed with top aluminium sheet during friction stirring. Also, bend testing shows that, the cladded joints exhibit excellent ductility.

Corrosion behavior of dissimilar copper/brass joints welded by friction stir lap welding in alkaline solution

This study was done to evaluate the nugget zone(NZ)corrosion behavior of dissimilar copper/brass joints welded by friction stir lap welding(FSLW)in a solution of 0.015 mol/L borax(pH 9.3).To this end,dissimilar copper/brass plates were welded with two dissimilar heat inputs(low and high)during the welding procedure.The high and low heat inputs were conducted with 710 r/min,16 mm/min and 450 r/min,25 mm/min,respectively.Using open circuit potential(OCP)measurements,electrochemical impedance spectroscopy(EIS)and Tafel polarization tests,the electrochemical behavior of the specimens in borate buffer solution was assessed.With the help of scanning electron microscope(SEM),the morphology of welded specimen surfaces was examined after immersion in the test solution.According to the results,the NZ grain size and resistance improvement reduced due to the nugget zone corrosion with a decreased heat input.The results obtained from Tafel polarization and EIS indicated the improved corrosion behavior of the welded specimen NZ with a decrease in the heat input during the welding process unlike the copper and brass metals.Furthermore,an increased heat input during the welding process shows a reduction in the conditions for forming the passive films with higher protection behavior.

Effect of pin penetration depth on double-sided friction stir welded joints of AA6061-T913 alloy

Friction stir welding (FSW) of aluminum alloys is currently utilized in several modern industries. The joints must have sufficient elastic?plastic response and formability levels similar to that of the base metal. In this work, double-sided FSW of AA6061 sheet was compared with its conventional single-sided one. An adjustable tool with different pin lengths (50%?95% of the sheet thickness) was used to perform the double-sided welds. Macro- and micro-structures, strength, and hardness of the joints were investigated to determine the optimum pin penetration depth. The best results were obtained for a double-sided joint made by a pin length equal to 65% of the sheet thickness, which showed an increase of 41% in the ultimate tensile strength compared with the single-sided joint.

Design of Robust Controller for Flexible Joint Robot with Nonlinear Friction Characteristics

A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.