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学者姓名：陈树君
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Abstract ：
Robotic friction stir welding (RFSW), with its wide application range, ample working space, and task flexibility, has emerged as a vital development in friction stir welding (FSW) technology. However, the low stiffness of serial industrial robots can lead to end-effector deviations and vibrations during FSW tasks, adversely affecting the weld quality. This paper proposes a dynamic dual particle swarm optimization (DDPSO) algorithm through a new comprehensive stability index that considers both the stiffness and vibration stability of the robot to optimize the installation position of complex space curve weldments, thereby enhancing the robot's stability during the FSW process. The algorithm employs two independent particle swarms for exploration and exploitation tasks and dynamically adjusts task allocation and particle numbers based on current results to fully utilize computational resources and enhance search efficiency. Compared to the standard particle swarm optimization (PSO) algorithm, the DDPSO approach demonstrated superior search capabilities and stability of optimization results. The maximum fitness value improved by 4.2%, the average value increased by 12.74%, and the concentration level of optimization results rose by 72.91% on average. The new optimization method pioneers fresh perspectives for optimizing the stability of RFSW, providing significant grounds for the process optimization and offline programming of complex spatial curve weldments.
Keyword ：
friction stir welding friction stir welding vibration stability vibration stability Cartesian stiffness ellipsoid Cartesian stiffness ellipsoid robot stability index robot stability index robot stiffness robot stiffness
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| GB/T 7714 | Zong, Guanchen , Kang, Cunfeng , Chen, Shujun et al. Optimization of Installation Position for Complex Space Curve Weldments in Robotic Friction Stir Welding Based on Dynamic Dual Particle Swarm Optimization [J]. | PROCESSES , 2024 , 12 (3) . |
| MLA | Zong, Guanchen et al. "Optimization of Installation Position for Complex Space Curve Weldments in Robotic Friction Stir Welding Based on Dynamic Dual Particle Swarm Optimization" . | PROCESSES 12 . 3 (2024) . |
| APA | Zong, Guanchen , Kang, Cunfeng , Chen, Shujun , Jiang, Xiaoqing . Optimization of Installation Position for Complex Space Curve Weldments in Robotic Friction Stir Welding Based on Dynamic Dual Particle Swarm Optimization . | PROCESSES , 2024 , 12 (3) . |
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Abstract ：
In this study, we investigated the effect of pulse current on the microstructure, texture, deformation behavior, and mechanical properties of Ti-6Al-4 V alloys fabricated by electrically assisted stationary friction stirring welding. With the increase of the rotation speed and peak pulse current, a lamellar structure precipitated in the stir zone became more elongated, resulting in a higher concentration of grain orientation distribution and a larger but gradually decreasing ratio of high-angle grain boundaries. Moreover, the texture strength increased, but still remained lower than that of the transition zone on both sides. The microhardness distribution of the welded joint was anisotropic in all layers, with the stir zone exhibiting the highest hardness, while the HAZ was identified as the weakest region. The joints have a maximum tensile strength of 1020.1 MPa and an elongation of 6%, respectively. The tensile strength is comparable to that of the base metal (BM), and the elongation reaches 57.7% of BM. This improvement is mainly attributed to grain refinement and uniformly distributed hardness. Furthermore, all tensile fractures were ductile fractures.
Keyword ：
Pulse current Pulse current Mechanical properties Mechanical properties Stationary shoulder friction stir welding Stationary shoulder friction stir welding Deformation behavior Deformation behavior Texture Texture
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| GB/T 7714 | Jiang, Wang , Li, Chaojiang , Yuan, Tao et al. Investigation on pulse current-assisted stationary shoulder friction stir welded Ti-6Al-4 V joints [J]. | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2024 , 134 (7-8) : 3373-3384 . |
| MLA | Jiang, Wang et al. "Investigation on pulse current-assisted stationary shoulder friction stir welded Ti-6Al-4 V joints" . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 134 . 7-8 (2024) : 3373-3384 . |
| APA | Jiang, Wang , Li, Chaojiang , Yuan, Tao , Chen, Shujun , Jiang, Xiaoqing , Bai, Yafeng . Investigation on pulse current-assisted stationary shoulder friction stir welded Ti-6Al-4 V joints . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2024 , 134 (7-8) , 3373-3384 . |
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Abstract ：
To improve the positioning accuracy of industrial robots and meet the requirements of industrial applications, this study begins with the structural design of multi-jointed industrial robots and proposes a kinematic calibration method based on axis fitting. The proposed method introduces an axis fitting technique based on circle fitting. Utilizing the results of the axis fitting, a method for establishing link coordinate systems by referencing the Modified Denavit-Hartenberg (MD-H) model is presented. Subsequently, a kinematic parameter identification method is proposed. This study primarily investigates the impact of joint rotation angles on the accuracy of axis fitting. The study reveals that when the rotation angle is greater than or equal to 20 degrees, the circularity of the circle fitting is less than 0.008 mm, and the planarity is less than 0.01 mm, indicating that the proposed fitting algorithm meets the required precision for small angle rotations. Finally, the positioning accuracy of the target robot is verified according to ISO 9283:1998. After calibration, the positioning accuracy at point P1 improves from 1.64 mm to 0.46 mm, an enhancement of 71.95 %, which is the most significant improvement. At point P2, the positioning accuracy improves from 1.75 mm to 0.69 mm, an enhancement of 60.5 %, which is the least improvement. The advantage of this method lies in its ability to identify kinematic parameters that align with the actual structure of the robot using a simple measurement method, thereby improving the robot's positioning accuracy.
Keyword ：
Kinematic calibration Kinematic calibration Positioning accuracy Positioning accuracy Axis fitting Axis fitting Industrial robots Industrial robots
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| GB/T 7714 | Cheng, Bo , Wang, Bo , Chen, Shujun et al. Investigation of axis-fitting-based measurement and identification techniques for kinematic parameters in multi-joint industrial robots [J]. | PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY , 2024 , 91 : 1-13 . |
| MLA | Cheng, Bo et al. "Investigation of axis-fitting-based measurement and identification techniques for kinematic parameters in multi-joint industrial robots" . | PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY 91 (2024) : 1-13 . |
| APA | Cheng, Bo , Wang, Bo , Chen, Shujun , Huang, Dishan , Dong, Bolun . Investigation of axis-fitting-based measurement and identification techniques for kinematic parameters in multi-joint industrial robots . | PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY , 2024 , 91 , 1-13 . |
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Abstract ：
Robotic Friction Stir Welding (RFSW) technology integrates the advantages of friction stir welding and industrial robots, finding extensive applications and research in aerospace, shipbuilding, and new energy vehicles. However, the high-speed rotational process of friction stir welding combined with the low stiffness characteristics of serial industrial robots inevitably introduces vibrations during the welding process. This paper investigates the vibration patterns and impacts during the RFSW process and proposes an active vibration avoidance control method for variable speed welding based on constant heat input. This method utilizes a vibration feedback strategy that adjusts the spindle speed actively if the end-effector's vibration exceeds a threshold, thereby avoiding the modal frequencies of the robot at its current pose. Concurrently, it calculates and adjusts the welding speed of the robot according to the thermal equilibrium equation to maintain constant heat input. A simplified dynamic model of the RFSW robot was established, and the feasibility of this method was validated through simulation experiments. This study fills the gap in vibration analysis of RFSW and provides new insights into control strategies and process optimization for robotic friction stir welding.
Keyword ：
vibration analysis vibration analysis robot dynamics robot dynamics vibration feedback vibration feedback RFSW RFSW modal analysis modal analysis
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| GB/T 7714 | Zong, Guanchen , Kang, Cunfeng , Chen, Shujun . Active Vibration Avoidance Method for Variable Speed Welding in Robotic Friction Stir Welding Based on Constant Heat Input [J]. | MATERIALS , 2024 , 17 (11) . |
| MLA | Zong, Guanchen et al. "Active Vibration Avoidance Method for Variable Speed Welding in Robotic Friction Stir Welding Based on Constant Heat Input" . | MATERIALS 17 . 11 (2024) . |
| APA | Zong, Guanchen , Kang, Cunfeng , Chen, Shujun . Active Vibration Avoidance Method for Variable Speed Welding in Robotic Friction Stir Welding Based on Constant Heat Input . | MATERIALS , 2024 , 17 (11) . |
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Abstract ：
Inter-layer Friction Stir Processing on Arc Additive Manufactured Components offers significant potential for performance enhancement, yet the homogenization of microstructures has become a challenge for industrial application. To address this, 2319 Al-Cu alloy components were fabricated through the Wire Arc Additive Manufacturing + Interlayer Friction Stir Processing (WAAM-IFSP)1 technique, and a systematic study was conducted on the effects of deformation degree, deformation temperature, and strain rate changes on the microstructural evolution, revealing three distinct periodic microstructures. An increase in deformation degree resulted in a uniform periodic microstructure, attributed to the more uniform internal deformation caused by the increased deformation degree. At a deformation degree of 24.1 %, higher strength and ductility were achieved, along with a notable bimodal grain structure (BGS). Further research indicated that this structure would distribute more widely within the matrix with increasing strain rate, aiding in further performance breakthroughs, ultimately reaching an ultimate tensile strength (UTS) of 404 MPa and an elongation (EL) of 32 %. However, imperfections in the process led to inhomogeneity in the structure. Focusing on the dynamic recrystallization (DRX) mechanisms during stirring can improve this phenomenon. The research revealed that the fine grains in the BGS were controlled by a synergy of dominant discontinuous dynamic recrystallization (DDRX) and auxiliary continuous dynamic recrystallization (CDRX) nucleation mechanisms. The findings are expected to provide a theoretical basis for the optimization of WAAM-IFSP processes and microstructural and performance regulation, which is crucial for enhancing the industrial application prospects of aluminum alloys.
Keyword ：
Dynamic recrystallization mechanisms Dynamic recrystallization mechanisms Periodic microstructure Periodic microstructure Mechanical properties Mechanical properties Wire arc additive manufacturing Wire arc additive manufacturing
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| GB/T 7714 | Yuan, Tao , Xu, Daqing , Jiang, Xiaoqing et al. Origins and optimization mechanisms of periodic microstructures in Al-Cu alloys fabricated by wire arc additive manufacturing combined with Interlayer Friction Stir Processing [J]. | MATERIALS SCIENCE AND ENGINEERING A-STRUCTURAL MATERIALS PROPERTIES MICROSTRUCTURE AND PROCESSING , 2024 , 916 . |
| MLA | Yuan, Tao et al. "Origins and optimization mechanisms of periodic microstructures in Al-Cu alloys fabricated by wire arc additive manufacturing combined with Interlayer Friction Stir Processing" . | MATERIALS SCIENCE AND ENGINEERING A-STRUCTURAL MATERIALS PROPERTIES MICROSTRUCTURE AND PROCESSING 916 (2024) . |
| APA | Yuan, Tao , Xu, Daqing , Jiang, Xiaoqing , Chen, Shujun . Origins and optimization mechanisms of periodic microstructures in Al-Cu alloys fabricated by wire arc additive manufacturing combined with Interlayer Friction Stir Processing . | MATERIALS SCIENCE AND ENGINEERING A-STRUCTURAL MATERIALS PROPERTIES MICROSTRUCTURE AND PROCESSING , 2024 , 916 . |
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Abstract ：
传统电弧由于热输入高、熔覆率低，无法直接应用于电弧熔丝增材制造(wire and arc additive manufacturing,WAAM)技术.该文提出极性变换自适应分流交替电弧WAAM工艺方法，在钨电极，工件和丝材间形成交替电弧.根据EN/EP电流转换时自适应分流并主动诱导交替电弧形成.该新型热源能满足以丝材阳极-钨电极阴极的EN电弧熔化丝材；以钨电极阳极-工件阴极的EP电弧清理工件，并通过适当的调节实现电弧热质力传输的受控解耦.验证了该新型热源的适用性，并对比分析了焊接速度和丝材高度下对电弧行为及熔滴过渡的影响.结果表明，当焊接速度为5.7 mm/s和丝材高度为8 mm时，沉积层形貌较好且熔滴过渡规律；与传统变极性等离子电弧(variable polarity plasma arc,VPPA)熔丝增材制造技术相比，其自适应分流交替电弧显著提高了丝材的沉积效率且降低了母材热输入，较好的兼顾了增材质量与增材效率.
Keyword ：
电弧行为 电弧行为 熔滴过渡 熔滴过渡 交替电弧 交替电弧 电弧熔丝增材制造 电弧熔丝增材制造 焊缝成形 焊缝成形
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| GB/T 7714 | 胡青松 , 闫朝阳 , 章朋田 et al. 自适应分流交替电弧WAAM电弧行为与熔滴过渡 [J]. | 焊接学报 , 2024 , 45 (02) : 41-46,131 . |
| MLA | 胡青松 et al. "自适应分流交替电弧WAAM电弧行为与熔滴过渡" . | 焊接学报 45 . 02 (2024) : 41-46,131 . |
| APA | 胡青松 , 闫朝阳 , 章朋田 , 陈树君 . 自适应分流交替电弧WAAM电弧行为与熔滴过渡 . | 焊接学报 , 2024 , 45 (02) , 41-46,131 . |
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Abstract ：
将摆动激光与GMAW工艺复合，利用“8”字形摆动激光扫描液态熔池，对其温度场和流场进行调控，以改变熔池温度梯度，主动调控熔池流动以改善焊缝成形.在6061铝合金板材表面进行堆焊试验，重点探究了光丝间距、摆动幅度、激光功率对于焊缝成形的影响，采用高速摄像机拍摄激光扫描熔池过程.结果表明，摆动激光扫描可以有效抑制成形缺陷的发生，当摆动激光扫描熔池中部时可以获得最佳的焊缝成形效果.摆动激光扫描降低了熔池温度梯度分布，同时激光扫描产生的激光蒸发反力可以驱动熔池流动，促进了液态熔池的流动铺展，从而有效抑制了不规则焊缝成形缺陷，减少焊缝内部气孔和裂纹缺陷.调节摆动激光摆幅可以在一定范围内对焊缝宽度进行调控.
Keyword ：
熔池流动 熔池流动 熔化极气体保护焊 熔化极气体保护焊 摆动激光扫描 摆动激光扫描 焊缝成形 焊缝成形
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| GB/T 7714 | 肖珺 , 葛欣雨 , 盖胜男 et al. 基于摆动激光扫描的GMAW焊缝成形调控 [J]. | 焊接学报 , 2024 , 45 (04) : 7-12,129 . |
| MLA | 肖珺 et al. "基于摆动激光扫描的GMAW焊缝成形调控" . | 焊接学报 45 . 04 (2024) : 7-12,129 . |
| APA | 肖珺 , 葛欣雨 , 盖胜男 , 陈树君 , 盛卫星 , 陈少君 . 基于摆动激光扫描的GMAW焊缝成形调控 . | 焊接学报 , 2024 , 45 (04) , 7-12,129 . |
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Abstract ：
变极性等离子弧（Variable Polarity Plasma Arc, VPPA）焊是一种高效的铝合金和镁合金焊接方法，其主要优势在于等离子电弧具有高能量密度，可以在焊接时穿透熔池形成小孔，大幅度降低焊接变形和残余应力，提高焊接质量。了解熔池小孔行为、电弧物理特性和控制方法对于优化和提高焊接过程的稳定性至关重要。本文综述了VPPA焊接技术发展的最新情况，对VPPA焊接过程信息的检测研究为深刻认识焊接稳定性机理提供了有力保障，尤其是利用X射线成像系统观测熔融金属流动的研究，对提升VPPA穿孔熔池物理本质的认识做出了重要贡献。此外，针对不同位置VPPA焊接的研究增加了这一焊接工艺的灵活性，由VPPA焊接衍生的多种拓展工艺拓宽了该焊接方法的适用范围。VPPA穿孔焊接技术以其焊接变形小、焊后无缺陷、单面焊接双面一次成形等优势，成为航空航天领域铝合金中厚板材焊接制造的优选工艺。
Keyword ：
熔池检测 熔池检测 电弧物理 电弧物理 变极性等离子弧焊 变极性等离子弧焊 复合焊接 复合焊接 稳定性控制 稳定性控制
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| GB/T 7714 | 蒋凡 , 张成钰 , 徐斌 et al. 变极性等离子弧焊技术发展及其在航天制造领域应用现状 [J]. | 航天制造技术 , 2024 , PageCount-页数: 12 (03) : 15-26 . |
| MLA | 蒋凡 et al. "变极性等离子弧焊技术发展及其在航天制造领域应用现状" . | 航天制造技术 PageCount-页数: 12 . 03 (2024) : 15-26 . |
| APA | 蒋凡 , 张成钰 , 徐斌 , 张国凯 , 闫朝阳 , 陈树君 . 变极性等离子弧焊技术发展及其在航天制造领域应用现状 . | 航天制造技术 , 2024 , PageCount-页数: 12 (03) , 15-26 . |
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Abstract ：
铝合金因其密度低，比强度高等特性，被广泛应用到航空航天、军事工业等领域.与其他焊接工艺相比，变极性等离子弧焊接在大型铝合金结构件加工方面具有突出优势.针对轻金属合金等离子弧焊接过程中匙孔难以自由闭合的问题，提出了气电分离时序脉冲等离子弧环焊缝收弧方法，对比研究了环焊缝收弧方法与手工钨极惰性气体保护焊(tungsten inert gas welding, TIG焊)填补法焊缝匙孔闭合处的微观组织与力学性能.结果表明，通过调节焊接起弧、收弧策略，实现了等离子弧匙孔自由闭合，焊缝收弧区成形良好，组织为均匀的等轴晶；抗拉强度为329.9 MPa，断后伸长率为16.3%，比TIG填补法的抗拉强度提高了22.91%，断后伸长率提高了55.24%.平均硬度值为78.9 HV0.2，热影响区硬度呈下降趋势，熔合线处硬度呈升高趋势，焊缝区硬度波动范围为75～81 HV0.2.
Keyword ：
微观组织 微观组织 力学性能 力学性能 铝合金 铝合金 变极性等离子弧穿孔焊接 变极性等离子弧穿孔焊接
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| GB/T 7714 | 王小伟 , 张斌 , 曾如川 et al. 铝合金VPPAW穿孔焊接匙孔闭合处的微观组织与力学性能 [J]. | 焊接学报 , 2024 , 45 (03) : 1-6,129 . |
| MLA | 王小伟 et al. "铝合金VPPAW穿孔焊接匙孔闭合处的微观组织与力学性能" . | 焊接学报 45 . 03 (2024) : 1-6,129 . |
| APA | 王小伟 , 张斌 , 曾如川 , 闫朝阳 , 陈树君 . 铝合金VPPAW穿孔焊接匙孔闭合处的微观组织与力学性能 . | 焊接学报 , 2024 , 45 (03) , 1-6,129 . |
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Abstract ：
Al-Cu alloys show great potential for aerospace applications because of their remarkable advantages, and wire arc additive manufacturing (WAAM) provides a way to print large-scale metal structures. However, the high crack susceptibility is a limiting factor for WAAM of Al-Cu alloy parts. In this study, the primary mechanism of crack formation, including the grain structure, Cu segregation, and eutectic structure transition, of an as -deposited WAAM Al-Cu alloy were investigated. The results showed that macrocracks with lengths of approxi-mately 6-9 cm and depths of 5.6-7 mm occurred in the bottom of the part. The cracks in the WAAM part of the Al-Cu alloy were dominated by liquation cracks, which preferentially formed at high-angle grain boundaries (GBs) with GB angles in the range 30 degrees -60 degrees. Moreover, the discontinuous normal eutectics transform to continuous-strip divorced eutectics in the GBs. This is clear evidence for the temperature of the GB liquid in the partially melting zone exceeding the eutectic temperature (548 degrees C) during the subsequent re-heating process. An almost constant amount of solute segregation was calculated by Scheil solidification models. The microstructure showed the fine to coarse grain transformation in a deposited layer, resulting in lower GB density toward the inner-layer zone. Thus, the conditions that are needed for liquation cracking are low GB density to generate a wide eutectic liquid film and high intergranular strain in the partially melting zone. This means to liquation cracking is more prefer to nucleated in comparison with solidification cracking.
Keyword ：
Al-Cu alloy Al-Cu alloy Microstructure Microstructure Liquation cracking Liquation cracking Wire arc additive manufacturing Wire arc additive manufacturing
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| GB/T 7714 | Xu, Min , Zhang, Hongda , Yuan, Tao et al. Microstructural characteristics and cracking mechanism of Al-Cu alloys in wire arc additive manufacturing [J]. | MATERIALS CHARACTERIZATION , 2023 , 197 . |
| MLA | Xu, Min et al. "Microstructural characteristics and cracking mechanism of Al-Cu alloys in wire arc additive manufacturing" . | MATERIALS CHARACTERIZATION 197 (2023) . |
| APA | Xu, Min , Zhang, Hongda , Yuan, Tao , Yan, Zhaoyang , Chen, Shujun . Microstructural characteristics and cracking mechanism of Al-Cu alloys in wire arc additive manufacturing . | MATERIALS CHARACTERIZATION , 2023 , 197 . |
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