A Lagrangian finite-element model of the plunge phase of the friction stir welding process was developed to better understand the plunge. The effects of both modeling and experimental parameters were explored. Experimental friction stir plunges were made in AA 7075-T6 at a plunge rate of 0.724 mm/s with spindle speeds ranging from 400 to 800 rpm. Comparable plunges were modeled in Forge2005. Various simulation parameters were explored to assess the effect on temperature prediction. These included the heat transfer coefficient between the tool and workpiece (from 0 to 2000 W/m-K), mesh size (node counts from 1,200 to 8,000), and material model (five different constitutive relationships). Simulated and measured workpiece temperatures were compared to evaluate model quality. As spindle speed increases, there is a statistically significant increase in measured temperature. However, over the range of spindle speeds studied, this difference is only about 10% of the measured temperature increase. Both the model and the simulation show a similar influence of spindle speed on temperature. The tool-workpiece heat transfer coefficient has a minor influence (<25% temperature change) on simulated peak temperature. Mesh size has a moderate influence (<40% temperature change) on simulated peak temperature, but a mesh size of 3000 nodes is sufficient. The material model has a high influence (>60% temperature change) on simulated peak temperature. Overall, the simulated temperature rise error was reduced from 300% to 50%. It is believed that this can be best improved in the future by developing improved material models.

The current study focus on investigating a relationship between processing variables and microstructure evolution mechanism in 304L stainless steel subjected to hot torsion. The Gleeble 3800 with Mobile Torsion Unit (MTU) is utilized in the current study to conduct hot torsion test of 304L stainless steel. Samples are rotated at 1100℃ in the shear strain rate range of 0.02s-1 to 4.70s-1 and the shear strain range of 0.5 to 4. Orientation imaging microscopy (OIM) technique is used to collect and analyze the microstructure. At low strains (≤1) and strain rate (0.02s-1), average grain size remains relatively constant, but the lengths of DSs and LABs increase within grains. These are characteristics of the dynamic recovery (DRV). With increasing strain and strain rate, the lengths of DSs, LABs and HABs increase, accompanied by the decrease of average grain size. Subgrains with HAB segments are observed. These are characteristics of continuous dynamic recrystallization (CDRX). At strain rates greater than or equal to 0.94s-1, the fraction of deformation texture is about 3 times higher than that of rotated cube texture. The average grain size increases relative to that at a strain rate of 0.20s-1, accompanied by the increase of twin length per area. This indicates that grain growth take place after CDRX. Sigma phase is not observed in the current study due to the lack of static recrystallization (SRX) and the higher cooling rate.

Ceramic metal matrix composites (CMMCs) are materials generally created by mixing of hard ceramic particles in a metal matrix. They were expected to combine the ductility and toughness of the metal with the high strength and elastic modulus of the ceramic. MMCs have potential applications in automotive, aeronautical and aerospace industries. Hence, a simple and economical method for fabricating MMCs is an area of intense research. In MMCs, damage evolution starts preferentially at particle matrix interface or at particle clusters in the matrix. This is due to the different physical and mechanical properties of the particle and matrix. Higher local particle volume content leads to higher stress triaxiality making it a preferential site for damage nucleation. Problems with lowering of ductility, fatigue, fracture and impact resistance, agglomeration of ceramic phase and issues related to the predictability of properties of MMCs have been the major issues that have limited their use. In order to overcome some of these shortcomings, the use of nano particles has been attracting increasing attention. The reason is their capability in improving the mechanical and physical properties of traditional MMCs. The dispersion of a nanoscale ceramic phase is needed in order to overcome the problems related to fatigue, fracture toughness, and creep behaviour at high temperatures. However, manufacturing costs, preparation of nano composites and environmental concerns have to be addressed. Agglomeration of nano particles, when produced by the melt stir casting route, the primary route to produce MMCs, is a serious issue that limits the use of nano-particles to produce MMCs with good properties. To avoid agglomeration of the ceramic phase MMCs/nano MMCs have been produced through the powder metallurgy route. Agglomeration is avoided as this is a solid state process. Secondary processing, such as extrusion and rolling are often needed to fully consolidate materials produced in this manner. A high extrusion ratio is often required to get MMCs without porosity. A new method of making nano-ceramic MMC using a polymer derived ceramics (PDC) has been reported. A polymer derived ceramic is a material that converts itself into a ceramic when heated above a particular temperature. In the PDC method a polymer precursor is dispersed in the metal and then converted in-situ to a ceramic phase. A feature of this process is that all the constituents of the ceramic phase are built into the organic molecules of the precursor (e.g., polysilazanes contain silicon, carbon, and nitrogen); therefore, a reaction between the polymer and the host metal or air is not required to produce the ceramic phase. The polymer can be introduced through casting or powder metallurgy route. In the casting route, the polymer powder is directly added to molten metal and pyrolyzed in-situ to create castings of metal-matrix composites. These composites have shown better properties at elevated temperatures but the problem of agglomeration of particles due to Van der Waal's forces and porosity still remains. In the powder method, the organic precursor was milled with copper powder and then plasma sprayed to produce a metal matrix composite. It is reported that these composites retains its mechanical strength close to the melting point of the copper. However, getting a nano sized distribution is difficult through this route as the plasma spray route is a melting and solidification method. Solid state processing by powder metallurgy is possibly a better method to produce well dispersed nano-MMCs. However, powder metallurgy routes are much more expensive and only parts of limited sizes can be produced by this method. Another solid state process Friction Stir Processing (FSP) has successfully evolved as an alternative technique to fabricating metal matrix composites. FSP is based on the principles of Friction Stir Welding (FSW). In FSW, a rotating tool with a pin and a shoulder is inserted into the material to be joined, and traversed along the line of the joint. The friction between the tool and the work piece result in localized heating that softens and plasticizes the material. During production of MMCs using FSP method, the material undergoes intense plastic deformation resulting in mixing of ceramic particles and the metal. FSP also results in significant grain refinement of the metal and has also been used to homogenize the microstructure. FSP technology has also been used to fabricate surface/bulk composites of Al-SiC, friction stir surfacing of cast aluminum silicon alloy with boron carbide and molybdenum disulphide powders and to produce ultra-fine grained Cu-SiC composites. A major problem in the FSP of MMCs is severe tool wear that results from abrasion with hard ceramic particles. The progressive wear of the tool has been reported to increase the likelihood of void or defect development. This change in geometry has been reported in the friction stir welding of several MMCs. The problems concerning the tool life has become a serious issue in the application of FSP for producing MMCs. In the present work the advantages of the PDC method and FSP have been combined to produce polymer derived nano ceramic MMCs. This method mainly consists of three steps. In the first step, a polymer, which pyrolysis to form a PDC at temperatures lower than the melting point of the metal, is dispersed in the metal by FSP. This step is different from the melt route where the PDC forms at temperatures above the melting point of the metal. In the second step, external pyrolysis of the polymer dispersed material is carried out. Since this is a solid state process at stresses much higher than the shear or fracture of the polymer is expected to get evenly and finely distribution in the metal. This is done by heating the polymer dispersed material to a temperature above the pyrolysation temperature of the ceramic but lower than the melting point of the metal matrix. It should be mentioned that some pyrolysis of the polymer is possible during the FSP process itself. In the third step FSP is carried out on the pyrolised material for removing porosity that would form due to gas evolution during pyrolysis and to get a more uniform dispersion of polymer derived ceramic particles in the matrix. This method will produce nano-scale metal matrix composites with a relatively high volume fraction of the ceramic phase. This method can be extended to big sheets or a particular region in a sheet with no or low wear of tools. The material selected for the present study were pure Copper (99.9%) and Nickel Aluminum Bronze (NAB) copper alloy. The polymer precursor was poly (urea methyl vinyl) silazane, which is available commercially as CERASET. The polymer consists of silicon, carbon, nitrogen, oxygen and hydrogen atoms. The liquid precursor was thermally cross-linked into a rigid polymer, which was milled into a powder. This powder, having angular shaped particles of an average size of 10 µm, was used as the reinforcement. The polysilazanes convert into a highly refractory and amorphous ceramic upon pyrolysis and is known as polymer-derived silicon carbonitride which consists principally of silicon, carbon and nitrogen. The in-situ process is feasible because copper melts above the temperature at which the organic phase begins to pyrolise. The polysilazanes pyrolise in the temperature range of 973 to 1273 K, which lie below the melting temperature of copper, 1356K.The precursor has a density of approximately 1 gcm-3 in the organic phase and approximately 2 gcm-3 in the ceramic state. In the present work, we seek to introduce approximately 20 vol% of the ceramic phase into copper. The microstructure and mechanical properties of the developed copper-based in-situ polymer derived nano MMCs have been characterized in detail to understand the distribution of particles. The microstructure of the as received, processed as well as the FSP composite material was characterized using Optical Microscope (OM), Scanning Electron Microscope (SEM), Electron Probe Micro Analyzer (EPMA) and Transmission Electron Microscope (TEM). OM and SEM microstructural observations show that PDC particles are distributed uniformly with a bimodal (submicron+micron) distribution. In addition, TEM micrographs reveal the formation of very fine PDC particles of diameter 10-30 nm. X-ray diffraction and Thermo-gravimetric analysis confirms the presence of ceramic phase (Si3N4/SiC) in the matrix. Significant improvement in mechanical properties of the FSP PD-MMCs has been observed. This in-situ formed Cu/PDC composites show five times increase in micro-hardness (260Hv - 2.5GPa) compared to processed copper base metal and in-situ NAB/PDC composite shows two times increase in micro-hardness (325Hv- 3.2GPa) compared to NAB matrix. The Cu-PDC composites exhibited better tensile strength at room temperature. In-situ formed Cu-PDC composite’s yield strength increased from 110MPa to 235MPa as compared to processed base metal, where as ultimate tensile strength increases from 246MPa to 312MPa compared to processed base metal at room temperature. This strengthening could be attributed to the presence of in-situ formed hard phases and the concomitant changes in the microstructure of the matrix material such as reduction in grain size and contribution from Orowan strengthening. In the present work, we have observed tool wear by observing tool after each FSP pass and apart from producing a significantly harder material with higher elastic modulus, possibly for the first time, the issue of tool wear has been overcome. This is due to the fact that the composite is made by the polymer route and that the ceramic fractures easily till it reaches the nano-size. Wear studies of this composite was carried out in a pin-on-disc machine by sliding a pin made from the composite against an alumina disc. The wear rate of the FSP PD-MMC composites increased from 1.63×10-5 to 5.72×10-6 mm3/Nm. Improved wear resistance could be attributed to the presence of the in-situ formed hard nano-phase.

Le travail présenté dans cette thèse concerne la modélisation et la commande robuste en force de robots manipulateurs industriels à articulations flexibles utilisés pour le procédé FSW. Afin de réduire les temps de calcul et l'occupation de la mémoire, une approche basée sur la méthode par intervalle est proposée en vue de la simplification des modèles dynamiques des robots industriels, et contribue à identifier les paramètres d'inertie qui sont négligeables. Des études de cas sur trois types de trajectoires de test et l’analyse des couples moteurs ont démontré l'efficacité et les bonnes performances de la méthode de simplification. Ensuite, la modélisation dynamique et l'identification des paramètres du procédé FSW ont été effectuées. Les paramètres des modèles linéaires et non-linéaires de forces axiales sont identifiés. Sur la base de la modélisation du procédé FSW qui considère simultanément la cinématique du système complet, le modèle de déplacement du robot rigide, les flexibilités des articulations et le modèle dynamique de la force axiale, un contrôleur robuste en force est obtenu par la méthode de réglage fréquentielle. En outre, un simulateur du procédé FSW robotique est développé et les résultats de simulation montrent les bonnes performances du contrôleur en force. L'oscillation de la force axiale dans le procédé FSW peut être simulée en utilisant un modèle de perturbation de la position verticale de référence. / The work presented in this thesis focuses on the modeling and robust force control of flexible joints industrial robot manipulators used for FSW process. In order to reduce computation time and memory occupation, a novel interval-based approach for dynamic model simplification of industrial robots is proposed, which applies to arbitrary trajectories of whole robot workspace and contributes to obtaining negligible inertia parameters. Cases studies have been carried out on three kinds of test trajectories and torques analysis of robot dynamic equation, demonstrating the effectiveness and good performance of the simplification method. Then, the dynamic modeling and identification of robotic FSW process is performed, and the parameters of linear and nonlinear dynamic axial force process models are identified by using the plunge depth and its derivative. On the basis of the modeling of robotic FSW process which simultaneously considers the complete kinematics, the rigid robot displacement model, the joint flexibility and the dynamic axial force process model, a robust force controller can be obtained by using the frequency response approach. Besides, a simulator of robotic FSW process is developed and simulation results show good performance of the force controller. The oscillation of axial force in FSW process can be simulated when a disturbance model of initial vertical reference position is proposed and used in the simulation.

This project explores the feasibility of the solid-state welding method direct-drive friction welding to be used as a joining method for the nitrogen alloyed steel Uddeholm Vanax SuperClean, produced via processes based on powder metallurgy. Vanax SuperClean cannot be welded using fusion welding methods where the base material melts, due to nitrogen escaping the material, resulting in inferior quality welds. The cost of the material motivates the use of Vanax SuperClean for critical parts in applications, combined with a less costly material for the remaining parts, causing alternative joining methods to be examined. Vanax SuperClean is friction welded to itself and to Uddeholm steel types Stavax ESR and UHB 11. Samples are prepared for a number of examinations. Microstructures of the samples are examined using microscopy, microhardness testing is carried out per the Vickers principle, retained austenite is measured using X-ray diffraction and tensile testing of the welded samples is performed. Defect-free welds are produced in all examined samples, showing that the method is suitable for Vanax SuperClean and that no preheating or slow cooling of workpieces are necessary. The possibility of using friction stir welding as a joining method for Vanax SuperClean is discussed. / Detta projekt undersöker möjligheten att använda trycksvetsningsmetoden friktionssvetsning som sammanfogningsmetod för det kvävelegerade pulvermetallurgiskt framställda stålet Uddeholm Vanax SuperClean. Vanax SuperClean kan inte svetsas med smältsvetsmetoder där grundmaterialet smälter, på grund av kvävgasbildning som resulterar i undermåliga svetsfogar. Kostnaden för materialet motiverar användandet av Vanax SuperClean för kritiska delar i applikationer, kombinerat med ett mindre kostsamt material till övriga delar, vilket föranleder undersökning av alternativa sammanfogningsmetoder. Vanax SuperClean friktionssvetsas mot sig själv, såväl som mot Uddeholmsstålen Stavax ESR och UHB 11. Prov tas fram för ett antal undersökningar. Mikrostruktur undersöks med mikroskopi, mikrohårdhetsprovning utförs enligt Vickersprincipen, restaustenitnivåer mäts med röntgendiffraktion och dragprovning utförs. Lyckade svetsfogar fås i alla undersökta prover, vilket visar att svetsmetoden är lämplig för Vanax SuperClean och att varken förvärmning eller långsamt svalnande av arbetsstycken krävs. Möjligheten att använda friktionsomrörningssvetsning som sammanfogningsmetod för Vanax SuperClean diskuteras.

Les simulations numériques représentent un outil fondamental pour la conception et l'optimisation de procédés industriels de fabrication tels que le soudage. Malgré le développement impressionnant des méthodes numériques et des moyens de calcul utilisables, la complexité des procédés de fabrication et les nouvelles exigences des industries les plus avancées obligent à repenser les méthodes, les stratégies et les algorithmes de simulation disponibles. Dans cette thèse, de nouvelles méthodes numériques avec une approche de Réduction des Modèles sont proposées, une discipline consolidée qui a fourni des solutions étonnantes dans différentes applications, comme les procédés de fabrication avancés. Tout d'abord, différentes stratégies sont proposées pour la simulation efficace des procédés de soudage conventionnel, à cet effet, l'utilisation de Computational Vademecums est introduite. L’introduction de ces abaques numériques améliorent des méthodes telles que : les Éléments Finis Généralisés pour le calcul thermique, l'approche local-global pour le calcul mécanique et enfin, la construction directe des abaques numériques utiles pour la phase de pré-design. En second lieu, un solveur PGD efficace est présenté pour les simulations thermo-mécaniques de soudage par friction-malaxage. Cette thèse montre comment la réduction des modèles,en plus d'être une fin en soi, peut être un excellent ingrédient pour améliorer l'efficacité des méthodes numériques traditionnelles. Cela représente un grand intérêt pour l'industrie. / Numerical simulations represent a fundamental tool for the design and optimization of industrial manufacturing processes such as welding. Despite the impressive development of the numerical methods and the means of calculation, the complexity of these processes and the new demands of the more advanced industries make it necessary to rethink the available methods, strategies and simulation algorithms. In this thesis, we propose new numerical methods with a Model Order Reduction approach, a consolidated discipline that has provided surprising solutions indifferent applications, such as advanced manufacturing processes. First, different strategies for the efficient simulation of conventional welding processes are proposed. To this end, the use of Computational Vademecums is introduced for the improvement of methods such as the Generalized Finite Element for thermal calculation, the local-global approach for the mechanical calculation or the direct construction of vademecums useful for predesign phases. Then, an efficient PGD solver for thermomechanical simulations for friction stir welding is presented. This thesis shows how Model Reduction, besides being an end, it can be an excellent ingredient to improve the efficiency of traditional numerical methods, with great interest for the industry.

Friction stir welding (FSW) of steel is often performed with an insert made of polycrystalline cubic boron nitride (PCBN). Specifically, MS80 is a grade of PCBN made by Smith MegaDiamond that has been optimized for the FSW process. The PCBN insert is attached to a tungsten carbide (WC) shank by a compression fitting. However, FSW tools manufactured by this method inevitably fail by fracture in the PCBN. Permanently bonding PCBN to WC would likely solve the fracturing problem and increase the life of PCBN FSW tools to be economically viable. Partial transient liquid phase (PTLP) bonding, a process used to join ceramics with thin metallic interlayers, was proposed as a method to permanently bond PCBN to WC. PTLP bonding is often performed using three layers of pure elements. On heating, the two thin outer interlayers melt and bond to the ceramics. Concurrently, these liquid layers diffuse into the thicker refractory core until solidification has occurred isothermally. A procedure was developed to reduce the number of possible three-layer PTLP bonding setups to a small set of ideal setups using logical filters. Steps in this filtering method include a database of all existing binary systems, sessile drop testing of 20 elements, and a routine that calculates maximum interlayer thicknesses. Results of sessile drop testing showed that the PCBN grade required for this research could only be bonded with an alloy of Ti, Cu, Mg, and Sb. Two PTLP bond setups were tested using this special coating on the PCBN, but a successful bond could not be achieved. However, a PTLP bond of WC to WC was successful and proved the usefulness of the filtering procedure for determining PTLP bond setups. This filtering procedure is then set forth in generalized terms that can be used to PTLP bond any material. Also, recommendations for future research to bond this grade of PCBN, or some other grade, to WC are presented.

Friction bit joining (FBJ) is a new solid-state spot joining technology developed in cooperation between Brigham Young University of Provo Utah, and MegaStir Technologies of West Bountiful Utah. Although capable of joining several different material combinations, this research focuses on the application of FBJ to joining 5754 aluminum to DP 980 steel, two alloys commonly used in automotive applications. The thicknesses of the materials used were 0.070 inches (1.78 mm) and 0.065 inches (1.65 mm), respectively. The FBJ process employs a consumable 4140 steel bit and is carried out on a purpose built research machine. In the first stage of the weld cycle the bit is used to drill through the aluminum top sheet to be joined. After this, spindle speed is increased so that the bit tip effectively forms a friction weld to the steel bottom sheet. Momentary stoppage of the spindle facilitates weld cooling before the spindle is restarted, shearing the bit tip from the bit shank, and retracted. Incorporated into the bit tip geometry is a flange that securely holds the aluminum in place after joint formation is complete. This research consists of several developmental steps since the technology only recently began to be formally studied. Initial joint strengths observed in lapshear tensile testing averaged only 978.5 pounds (4.35 kN), with a relatively high standard deviation for the data set. Final lapshear tensile test results were improved to an average of 1421.8 pounds (6.32 kN), with a significantly lower, and acceptable, standard deviation for the data set. Similar improvements were realized during the development work in cross tension tensile test results, as average strengths increased from 255.8 pounds (1.14 kN) to 566.3 pounds (2.52 kN). Improvements were also observed in the standard deviation values of cross tension data sets from initial evaluation to the final data set presented in this work.