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Go to Editorial ManagerThis paper presents a comparison of using different techniques for stir spot welding of Aluminum 2024-T3, which are refill friction stir spot welding (RFSSW), edited (RFSSW-pin) and conventional friction stir spot welding (FSSW), depending on the obtained tensile shear strength property. Specimens were prepared from AA2024-T3 sheet for chemical analysis and mechanical tests. Workpieces were stir spot welded utilizing the above mentioned techniques at four rotational speeds (2000, 2500, 3000 and 4000 rpm) using tool pin diameters (5 and 7 mm) for conducting the tensile shear tests. The microhardness along the cross section of the welded specimens was conducted at the best conditions as well as the microstructure examination. The comparison results revealed that at the rotational speeds (2000 and 4000 rpm) in both cases of tool pin (5 and 7 mm), the ultimate tensile shear force was slightly higher than that for other speeds. However, the ultimate tensile shear force was found higher at 3000 rpm speed with a tool pin 7 mm. The microhardness results manifested a W-shape at the best conditions. Finally, the microstructure examination depicted the morphology of the main zones of the weld joint.
This study was devoted in investigating the optimum geometric parameters for underactuated linkage three phalanges robotic finger. New kinematic and kinetic equations of grasping were derived in this research taking into account the angle for the ternary solid links of the four-bar linkages. To obtain the target of optimization, a gradient descent method was used which consists of three stages to find the optimal geometric parameters with high accuracy. Five criteria were selected to find the optimal solution by using multi objectives function algorithm, these are percentage of the grasping stability, the grasp forces, squeezing force, Mimic function for grasping task, and transmission angle for grasping operation. Gradient descent method starts by detecting the optimal geometric parameters for each criterion and choosing the best geometric parameters from the five criteria functions. At the optimum solution, the underactuated robotic finger prototype was built from hard Polylactic acid (PLA) plastic using rapid prototyping and was tested performance by grasping objects. Finally, the results have been shown that the robotic finger adapts to the wanted configurations.
Welding residual stress has influences on fatigue, fracture, and corrosion. It is therefore important to explore the welding factors effect on the residual stresses. In this work, four welding factors (current, arc voltage, welding travel speed and included angle) were used to weld low carbon steel (ASTM A516 Grade 60).The experiments included welding of (60) pieces with dimensions of (300 x 150) mm and 10 mm thickness that were conducted based on the design matrix founded by using design of experiment (DOE) software (DESIGN EXPERT 10) with response surface methodology (RSM) technique. The X-Ray diffraction (XRD) method was used to measure the residual stress, which was then modeled and optimized in terms of the welding factors using (RSM) technique. The data showed that the welding travel speed and arc voltage have a significant influence on the residual stress. It was found that the optimum solution for minimum residual stress was at 450 Amp welding current, 34 volt arc voltage, 38 cpm welding speed, and 60? included angle. Where, the optimum value of residual stress was (-88.4 MPa). Finally, the predicted and experimental results of residual stress were in agreement with a maximum error of 1.8%.
Friction stir spot welding (FSSW) is a modern solid-state joining process able to weld similar and dissimilar overlap joints in different classes of materials and is widely being considered for automotive industry. In this work, the mechanical behavior ) i.e. tensile shear tests, Microhardness(, and microstructure of friction stir spot welded joints were studied for AA6061-T6 aluminum alloy sheets with thickness of 1.6 mm. Series of FSSW experiments were conducted using vertical CNC milling machine type "C-tek". FSSW is carried out at different pin profiles (cylindrical, taper, and triangular) and tool rotational typically speeds, i.e. 800, 1000, 1200 and 1400 rpm. Based on the welding experiments conducted in this study, the results show that sheets welded by triangular pin tool have highest tensile shear load, of 3.2 kN, followed by welds with cylindrical pin, while welds made using taper pin has the tensile shear load 2.1 kN at optimum speed of 1200 rpm. Also the pin shape and rotational speed had an obvious effect on microstructural parameters i.e. hook height and bond width.