Identification of robot dynamic model and joint frictions using a baseplate force sensor

Dynamic models play an important role in robot control and applications.The accurate identification of dynamic models has become crucial to meeting increasing performance requirements.Owing to the inertial forces and the joint frictions coupling,the identification first requires a parametrized friction model.However,the joint frictions are strongly nonlinear and vary with many factors including posture,velocity and temperature.Hence,all friction models have some deviation from the real values,which reduces the identification accuracy.This paper proposes an identification approach using a baseplate force sensor.It identifies the inertial parameters first and then computes the joint friction values by subtracting the inertial torques from the joint torques.This method has the advantage that it does not require a priori friction model.It can choose or construct a proper model to fit the real values and is thus expected to achieve high performance.Experiments on a 6-DoF robot were conducted to verify the proposed method.

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.

Shear strength criteria for rock,rock joints,rockfill and rock masses:Problems and some solutions

Although many intact rock types can be very strong,a critical confining pressure can eventually be reached in triaxial testing,such that the Mohr shear strength envelope becomes horizontal.This critical state has recently been better defined,and correct curvature or correct deviation from linear Mohr-Coulomb（MC） has finally been found.Standard shear testing procedures for rock joints,using multiple testing of the same sample,in case of insufficient samples,can be shown to exaggerate apparent cohesion.Even rough joints do not have any cohesion,but instead have very high friction angles at low stress,due to strong dilation.Rock masses,implying problems of large-scale interaction with engineering structures,may have both cohesive and frictional strength components.However,it is not correct to add these,following linear M-C or nonlinear Hoek-Brown（H-B） standard routines.Cohesion is broken at small strain,while friction is mobilized at larger strain and remains to the end of the shear deformation.The criterion ＇c then σn tan φ＇ should replace ＇c plus σn tan φ＇ for improved fit to reality.Transformation of principal stresses to a shear plane seems to ignore mobilized dilation,and caused great experimental difficulties until understood.There seems to be plenty of room for continued research,so that errors of judgement of the last 50 years can be corrected.

HIGH TEMPERATURE RHEOLOGICAL BEHAVIOR OF FSJ JOINTED REGION FOR 7022ALUMINUM ALLOY

The Hopkinson pressure bar tests for base metal and friction stir jointing ( FSJ ) jointed region of 7022aluminum alloy are carried out at different temperatures and strain rates.The temperature is 30 - 400°C and the strain rate is 1 200 - 5 000s -1 .High strain rate for base metal and FSJ jointed region of 7022aluminum alloy are studied.The corresponding stress-strain curves are obtained.The results show that the flow stresses of base metal and FSJ jointed region of 7022aluminum alloy decline with the increase of temperature and increase with the increase of strain rate.Furthermore , the constitutive equation for base metal and FSJ jointed region of 7022aluminum alloy at high temperature and high strain rate is obtained based on Johnson-Cook model.

Fatigue properties of friction stir welded butt joint and base metal of MB8 magnesium alloy

The fatigue properties of friction stir welded （FSW） butt joint and base metal of MB8 magnesium alloy were investigated. The comparative fatigue tests were carried out using EHF-EM2OOK2-070-IA fatigue testing machine for both FSW butt joint and base metal specimens. The fatigue fractures were observed and analyzed using a scanning electron microscope of JSM-6063LA type. The experimental results show that the fatigue performance of the FSW butt joint of MB8 magnesium alloy is sharply decreased. The conditional fatigue limit （2 x 106） of base metal and welded butt joint is about 77.44 MPa and 49. 91 MPa, respectively. The conditional fatigue limit （2 x 106 ） of the welded butt joint is 64.45% of that of base metal. The main reasons are that the welding can lead to stress concentration in the flash area, tensile welding residual stress in the welded joint（ The residual stress value was 30. 5 MPa）, as well as the grain size is not uniform in the heat-affected zone. The cleavage steps or quasi-cleavage patterns present on the fatigue fracture surface, the fracture type of the FSW butt joint belongs to a brittle fracture.

Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction

Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.

Analysis of the influence of joint characteristic parameters on roadway deformations

By means of numerical simulation, the roadway deformation affected by joints was analyzed and the pre-tensioned bolts for reinforcing roadway roof in jointed rock mass was studied. The results show that the roadway roof deformation increases gradually with the accretion of joint length, the increase of joint number, the de- crease of intervals, angles and friction angles of joints. The increase is obvious at beginning and then tends slowly. After pre-tensioned bolts are used, roadway roof deformations reduce obviously, and the supporting action of pre-tensioned bolts is more remarkable with accretion of joint length, increasing of joint number, reducing of joint interval, decreasing of joints angle and joint friction angle, and increasing of joint number that bolts drilling through. With comparison of different cases, the joints supporting effect is more remarkable at a small angel. It indicates that the supporting mechanism of pre-tensioned bolts is to reinforce weak faces, such as joints. The more joints the roof includes, the more visible the pre-tensioned bolts strengthening effect is.

Boundary-lubricated biomaterials with drug delivery for osteoarthritis treatment

The good lubrication ability of articular cartilage holds significant importance in our daily lives.Osteoarthritis(OA),the most prevalent degenerative joint disease,causes cartilage damage,increased friction,and inflammation.However,the current clinical treatments for OA exhibit some defects.Recently,the sustained drug release systems with lubricating function have attracted considerable attention for treating OA.This review introduces the lubrication mechanism of cartilage,focusing particularly on the boundary lubrication mechanism.The research progress of boundary-lubricated biomaterials with drug delivery,including microcarriers,hydrogels,and nanoparticles in the treatment of OA by improving inter-articular lubrication and relieving inflammation is discussed and summarized.The efficacy and challenges of boundary-lubricated biomaterials with drug delivery in the treatment of OA are summarized,and the prospects are also discussed.

Improving Corrosion Resistance of Friction Stir Welding Joint of 7075 Aluminum Alloy by Micro-arc Oxidation

An attempt has been made to improve the corrosion resistance of friction stir welded joints of 7075 aluminum alloys by micro-arc oxidation（MAO）, and the effects of Na2Si O3 concentration in electrolyte on the corrosion resistance of the coatings were discussed. Morphology and phase constituents of the MAO coatings produced in electrolyte with different Na2SiO3 concentrations were analyzed by scanning electron microscopy, confocal laser scanning microscopy and X-ray diffraction. Electrochemical tests were conducted to evaluate the corrosion resistance of the coatings. The results show that the corrosion resistance of the coated joints is much better than that without the ceramic coating, and the ceramic coating produced in the electrolyte with Na2SiO3 concentration 20 g/L showed better corrosion resistance than the others.

Ultrasound enhanced friction stir welding of aluminum and steel： Process and properties of EN AW 6061/DC04-Joints

In this work, the joining of aluminum to steel was conducted by ultrasound enhanced friction stir weld- ing （USE-FSW）. The power ultrasound was introduced into one of the metal sheets by an ultrasonic roll seam module synchronously to the FSW-process. The effect of the ultrasound on the resulting welds, their microstructure and their corrosion properties was investigated by light and scanning electron microscopy and corrosion investigations. The USE-FSW-joints showed less and smaller steel particles in the nugget zone as well as a thinner continuous intermetallic phase of FeAl3 at the interface. The nondestructive testing method of computed laminography proved the observations made by optic microscopy due to non-porous joints for both techniques. Corrosion investigations showed only low corrosion current densities and no enhanced galvanic corrosion for the EN AW-6061/DC04-hybrid joints in sodium chloride solution.

Influence of a non-rotating shoulder on heat generation,microstructure and mechanical properties of dissimilar AA2024/AA7050 FSW joints

Friction stir welding （FSW） and stationary shoulder friction stir welding （SSFSW） were carried out for the butt joining of dissimilar AA2024-T3 and AA7050-T7651 aluminium alloys with thicknesses of 2 mm. A comparison between the two processes was performed by varying the welding speed while keeping the rotational speed constant, Through the analysis of the force and torque produced during welding and a simple analytical model, it was possible to show that in SSFSW there is more effective coupling with the tool and the heat produced is more efficiently distributed. This process decreases both the welding area and the diffusion at the interface of the two alloys compared with FSW. The minimum microhardness occurred at the advancing side （AS） at the interface between the thermo-mechanically affected zone （TMAZ） and the stir zone （SZ） in both processes, although the decrease was more gradual in SSFSW. This interface is also where all specimens failed for both welding technologies. An increase in tensile strength was measured in SSFSW compared with standard FSW. Furthermore, it was possible to establish the mechanical performance of the material in the fracture zone using digital image correlation.