刚柔协作3CD/2RPU-SPR搅拌摩擦焊机器人研究

为满足搅拌摩擦焊技术的要求,解决搅拌摩擦焊机器人在顶锻力承受以及焊接灵活性方面存在的不足,在三自由度2RPU-SPR搅拌摩擦焊机器人基础上增加了3根绳索,设计了一种刚柔协作3CD/2RPU-SPR搅拌摩擦焊机器人。基于运动学建模,运用封闭矢量法分别计算了3CD/2RPU-SPR搅拌摩擦焊机器人刚性部分与绳索部分的位置逆解;运用求导法求得了机器人刚性部分与绳索部分的速度雅克比矩阵,并运用特征长度法将雅克比矩阵无量纲化,基于求得的速度无量纲雅克比矩阵,利用MATLAB软件分别对添加绳索前后的搅拌摩擦焊机器人的各项运动学性能指标进行编程求解;应用遗传算法对3CD/2RPU-SPR搅拌摩擦焊机器人的性能指标进行优化,通过设定最优个体系数、种群数目、遗传进化次数,对满足3CD/2RPU-SPR搅拌摩擦焊接机器人全域刚度以及全域灵巧性的结构参数进行寻优求解。结果表明:3CD/2RPU-SPR搅拌摩擦焊机器人的承载力、灵巧性、全域灵巧性、刚度、全域刚度等性能指标均有所提高,且在综合考虑灵巧性以及刚度的优质工作空间内运动连续,说明3CD/2RPU-SPR搅拌摩擦焊机器人相较于2RPU-SPR搅拌摩擦焊机器人能够承受更大的顶锻力,且运动灵活性有所提高。通过遗传算法优化后找到符合3CD/2RPU-SPR搅拌摩擦焊机器人全域灵巧性以及全域刚度的10组结构参数,在综合考虑搅拌摩擦焊接工况下,从10组结构参数中选取最优的一组作为搅拌摩擦焊机器人的结构参数,在该结构参数下,机器人性能指标有所提高,更适合完成搅拌摩擦焊接工作。研究为提高机器人搅拌摩擦焊接质量提供了理论依据。     

轴肩直径对6061铝合金搅拌摩擦焊轴向力的影响

目的 降低搅拌摩擦焊接过程中的轴向力,选择直径合适的轴肩,提高搅拌摩擦焊的焊接效率以及接头性能。方法 设计并使用了3种不同轴肩直径的搅拌头（9,12,15 mm）对6061铝合金进行焊接,记录并分析焊接轴向力的变化,观察焊缝表面形貌及微观组织,选择合适的轴肩直径。结果 “轴向力-时间”曲线上下起伏,当轴肩直径为15 mm时,曲线呈现较大的起伏;随着轴肩直径的减小,焊接轴向力也随之减小,当焊接速度为95 mm/min,搅拌头旋转速度为1500 r/min时,轴肩直径为9 mm的搅拌头所产生的平均轴向力最小,最小值约为2311 N;9 mm轴肩焊接所形成的焊缝表面形貌光滑,飞边量少;轴肩直径越小,焊核区晶粒尺寸越细小,当轴肩直径为9 mm时,焊核区晶粒尺寸为9.77 μm。结论 在相同的焊接参数下,选用9 mm轴肩所产生的轴向力小,焊缝表面形貌优,焊核区晶粒尺寸细化,接头力学性能好。     

铝合金搅拌摩擦焊研究现状及应用

搅拌摩擦焊是由英国焊接研究所发明的一种固相连接技术，可以对熔化焊接性差的铝合金进行可靠的连接，又具有诸多优点。介绍了搅拌摩擦焊工艺过程，分析了搅拌摩擦焊技术目前存在的优缺点，综述了铝合金搅拌摩擦焊的国内外研究现状和应用情况，指出搅拌摩擦焊为现代铝合金制造业提供了新的连接方法。     

钛合金搅拌摩擦焊研究现状

搅拌摩擦焊是目前钛合金焊接技术研究的热点.从搅拌头材料与结构设计、焊接工艺与组织性能关系、焊接过程数值仿真等方面综述了钛合金搅拌摩擦焊国内外研究现状.以现有的研究结果来看,搅拌摩擦焊是实现钛合金高强可靠连接的有效途径,选择合适的焊接参数和焊后热处理工艺可获得高质量钛合金焊接接头;但由于对钛合金用高温高强高耐磨搅拌头研制不足,以及对焊接过程多物理场表征技术、数值仿真、辅助焊接工艺等研究较少,限制了其研究进展和应用.     

搅拌摩擦焊接技术的研究现状及其展望

搅拌摩擦焊是针对焊接性差的铝、铗合金而开发出的一种新型固相焊接工艺,由英国焊接研究所于1991年开发的专利技术.简要介绍了搅拌摩擦焊的应用现状,综述了近10年来国内外搅拌摩擦焊技术的发展概况和最新进展,比较详尽地总结了焊接接头形成机理、适用母材、接头微观组织、力学性能、焊接设备、焊接工艺及搅拌摩擦焊应用领域.     

铝锂合金搅拌摩擦焊研究进展

铝锂合金作为一种低密度、高性能的新型结构材料,被认为是航空航天领域中实现飞行器轻量化的理想结构材料之一。而搅拌摩擦焊作为一种固相焊接技术,能够克服铝锂合金熔化焊时易产生的裂纹、气孔等缺陷,在铝锂合金焊接领域具有重要的应用前景。从搅拌摩擦焊焊接工艺、接头组织与性能等方面综述了铝锂合金搅拌摩擦焊近几年的研究进展,总结了其存在的主要问题,并对铝锂合金搅拌摩擦焊技术未来的发展进行了展望。     

钛及钛合金搅拌摩擦焊研究进展

搅拌摩擦焊技术已经成功应用于铝合金等低熔点材料的焊接,但针对钛及钛合金等高熔点材料的研究仍在进行之中。从焊具设计、接头显微组织与力学性能和焊接过程仿真等方面综述了钛及钛合金搅拌摩擦焊国内外研究进展,为搅拌摩擦焊技术应用于钛及钛合金提供参考。     

焊接技术在航空航天工业中的应用

焊接技术是航空航天工业的重要连接技术,在航空航天材料加工过程中,处于重要地位,焊接技术已成为飞机制造中的关键技术,为飞机的设计和制造提供了技术保证。本文对电子束焊、激光焊、搅拌摩擦焊、线性摩擦焊、扩散焊的原理、特点及应用进行了介绍。     

搅拌摩擦焊接过程控制研究综述

从搅拌摩擦焊接过程参数测控角度出发,综述了焊接区域温度、轴向力等主要过程参数的检测方法、各参数的影响因素分析;重点回顾了搅拌摩擦焊接过程参数的控制研究,主要内容为焊接区域温度的控制、轴向力控制、扭矩控制、压入深度控制、焊缝自动跟踪,当前主要采用PID控制器;由于过程模型的建立较为困难,自适应控制是较为理想的方法,控制律和稳定设计是关键环节。进一步加强焊接机理研究,建立更为完善的过程控制模型,才能进一步实现搅拌摩擦焊接过程的高度自动化、智能化。     

外加能量辅助搅拌摩擦焊技术的研究进展

搅拌摩擦焊接已经成为材料成形领域主要的固相连接工艺技术。在简要回顾搅拌摩擦焊及其衍生焊接技术研发现状的基础上,综述了近年来国内外开展的第二能量辅助搅拌摩擦焊的研究现状,主要包括激光、电弧、感应、电流、超声等能量辅助搅拌摩擦焊技术。进而着重综述了超声振动辅助搅拌摩擦焊的研究进展,介绍了目前出现的3种超声振动在搅拌摩擦焊中的施加方式。最后,对外加能量辅助搅拌摩擦焊下一步的研发方向进行了展望。     

Morphology and strength of acrylonitrile butadiene styrene welds performed by robotic friction stir welding

The aim of this study is to examine the main factors affecting friction stir welding (FSW) of acrylonitrile butadiene styrene (ABS) plates, performed by a robotic system developed to this purpose. Welds were carried out using a tool with stationary shoulder and an external heating system. The welding parameters studied were the axial force, rotational and traverse speeds and temperature of the tool. The major novelty is to perform FSW of a polymer in a robotic system and to study the influence of the axial force on weld quality. In a robotic solution the control of axial force allows to eliminate robot positional errors and guarantee the contact between the FSW tool and the work pieces. Strength and strain properties of the welds are evaluated and correlated with the morphology of the welded zone. A comparison between welds produced in the robotic FSW system and in a dedicated FSW machine is presented. It is shown the feasibility of robotic FSW of ABS without deteriorating the mechanical properties of the welds in relation to those produced in the dedicated FSW machine.     

Microstructures and mechanical properties of friction stir welded dissimilar copper/brass joints

In this study, an experimental investigation has been carried out on microstructure and mechanical properties of friction stir welded copper/brass dissimilar joints. Effect of axial tool force to welding quality has been investigated under obtained optimal tool rotation rate and tool traverse speed conditions. The tool for the dissimilar copper/brass friction stir welding manufactured from X155CrMoV12–1 cold work tool steel with material number of 1.2379. The friction stir welding quality was investigated by welding surface inspections, microstructural studies, micro hardness measurements and tensile tests. The experimental studies have shown that constant axial tool force during pre‐heating and during welding process are very important. As a result, by using 2.5–3 kN of axial tool force during pre‐heating and 5.5 kN of axial tool force during welding process, copper/brass dissimilar joints with well appearance and higher mechanical strength can be obtained.     

Establishing relationship between the base metal properties and friction stir welding process parameters of cast aluminium alloys

In friction stir welding (FSW), the material under the rotating action of non-consumable tool has to be stirred properly to get defect free welds in turn it will improve the strength of the welded joints. The welding conditions and parameters are differing based on the mechanical properties of base materials such as tensile strength, ductility and hardness which control the plastic deformation during friction stir welding. The FSW process parameters such as tool rotation speed, welding speed and axial force, etc. play a major role in deciding the weld quality. FSW Joints of cast aluminium alloys A319, A356, and A413 were made by varying the FSW process parameters and the optimum values were obtained. In this investigation, empirical relationships are established and they can be effectively used to predict the optimum FSW process parameters to fabricate defect free joints with high tensile strength from the known base metal properties of cast aluminium alloys.     

Effect of friction stir welding parameters on morphology and strength of acrylonitrile butadiene styrene plate welds

The aim of this study is to examine the effect of main friction stir welding (FSW) parameters on the quality of acrylonitrile butadiene styrene (ABS) plate welds. Welds were carried out in a FSW machine, using a tool with a stationary shoulder and no external heating system. The welding parameters studied were the tool rotational speed which varied between 1000 and 1500 (rpm); the traverse speed which varied between 50 and 200 (mm/min), and the axial force ranging from 0.75 to 4 (kN). The major novelty is to study the influence of the parameter axial force on FSW of polymers. Produced welds have always a tensile strength below the base material, reaching the maximum efficiencies of above 60 (%) for welds made with higher rotational speed and axial force. Good quality welds are achieved without using external heating, when the tool rotational speed and axial force are above a certain threshold. Above that threshold the formation of cavities and porosity in the retreating side of the stir zone is avoided and the weld region is very uniform and smooth. For low rotational speed and axial force welds have poor material mixing at the retreating side and voids at the nugget. For this reason the strain at break of these welded plates is low when compared with that of base material.     

Tensile behavior of dissimilar friction stir welded joints of aluminium alloys

The heat treatable aluminium alloy AA2024 is used extensively in the aircraft industry because of its high strength to weight ratio and good ductility. The non-heat treatable aluminium alloy AA5083 possesses medium strength and high ductility and used typically in structural applications, marine, and automotive industries. When compared to fusion welding processes, friction stir welding (FSW) process is an emerging solid state joining process which is best suitable for joining these alloys. The friction stir welding parameters such as tool pin profile, tool rotational speed, welding speed, and tool axial force influence the mechanical properties of the FS welded joints significantly. Dissimilar FS welded joints are fabricated using five different tool pin profiles. Central composite design with four parameters, five levels, and 31 runs is used to conduct the experiments and response surface method (RSM) is employed to develop the model. Mathematical regression models are developed to predict the ultimate tensile strength (UTS) and tensile elongation (TE) of the dissimilar friction stir welded joints of aluminium alloys 2024-T6 and 5083-H321, and they are validated. The effects of the above process parameters and tool pin profile on tensile strength and tensile elongation of dissimilar friction stir welded joints are analysed in detail. Joints fabricated using Tapered Hexagon tool pin profile have the highest tensile strength and tensile elongation, whereas the Straight Cylinder tool pin profile have the lowest tensile strength and tensile elongation. The results are useful to have a better understanding of the effects of process parameters, to fabricate the joints with desired tensile properties, and to automate the FS welding process.     

Multiresponse Optimization of FSW Parameters for Cast AA7075/SiCp Composite

Al/SiC-reinforced metal matrix composite is widely used in weight-sensitive applications such as portable and integrated circuit devices. The presence of SiC particles in aluminum alloys enhances material properties like thermal conductivity, density, and tensile strength. Reinforced aluminum matrix composite can be welded by friction stir welding (FSW) process. This investigation mainly focuses on optimizing the welding parameters of friction stir welded AA7075 with SiC reinforcement particle. The welding parameters considered are spindle speed, travelling speed, downward force, and percentage of SiC added to AA7075. The experiments are designed using response surface methodology (RSM). The responses considered are ultimate tensile strength and percentage elongation. Regression models are developed for the single responses and the results are analyzed using analysis of variance. Fuzzy grey relational analysis approach is then used to optimize the FS welding parameters by considering multiresponses. Highest grey fuzzy reasoning grade is obtained at a tool rotational speed of 1150 rpm, welding speed of 40 mm/min, axial force of 6 kN, and percentage of reinforcement of 20 wt% of SiC. The analysis using ANOVA for multiresponse case clearly indicates that the percentage of reinforcement is the most predominant parameter which requires more attention.     

Formation and retention of local melted films in AZ91 friction stir spot welds

The formation of local melted films during friction stir spot welding of as-cast AZ91D and thixomolded AZ91 material is investigated. The average temperatures close to the tip of the rotating pin vary from 438 to 454 °C during the dwell period in friction stir spot welding. These measured temperature values are higher than the melting temperature of α-Mg + Mg₁₇Al₁₂ eutectic (437 °C). It is suggested that the temperature in the stir zone during the dwell period is determined by the relative proportions of α-Mg and (α-Mg + Mg₁₇Al₁₂) eutectic material, which are incorporated during friction stir spot welding. Based on the stir zone temperature measurements and a detailed examination of material located at the root of the pin thread it is suggested that material is moved downwards via the pin thread and into the stir zone during the dwell period in friction stir spot welding. Evidence of local melted film formation is observed in the stir zone of AZ91 spot welds. It is suggested that melted films are retained since their dissolution rate is much slower in the high temperature stir zone than it is when melted films is formed in the stir zone during Al 7075-T6 friction stir spot welding. The spontaneous melting temperature, solute diffusion rate and the thermodynamic driving force for droplet dissolution are much higher during Al 7075-T6 friction stir spot welding.     

Effect of Process Parameters on Tensile Strength of Friction Stir Welded Cast LM6 Aluminium Alloy Joints

This paper reports the effect of friction stir welding(FSW)process parameters on tensile strength of cast LM6 aluminium alloy.Joints were made by using dierent combinations of tool rotation speed,welding speed and axial force each at four levels.The quality of weld zone was investigated using macrostructure and microstructure analysis.Tensile strength of the joints were evaluated and correlated with the weld zone hardness and microstructure.The joint fabricated using a rotational speed of 900 r/min,a weldin...     

Influence of friction stir welding process and tool parameters on strength properties of AA7075-T6 aluminium alloy joints

The aircraft aluminium alloys generally present low weldability by traditional fusion welding process. The development of the friction stir welding has provided an alternative improved way of satisfactorily producing aluminium joints, in a faster and reliable manner. In this present work, the influence of process and tool parameters on tensile strength properties of AA7075-T₆ joints produced by friction stir welding was analysed. Square butt joints were fabricated by varying process parameters and tool parameters. Strength properties of the joints were evaluated and correlated with the microstructure, microhardness of weld nugget. From this investigation it is found that the joint fabricated at a tool rotational speed of 1400 rpm, welding speed of 60 mm/min, axial force of 8 kN, using the tool with 15 mm shoulder diameter, 5 mm pin diameter, 45 HRc tool hardness yielded higher strength properties compared to other joints.