The fraction of slipping between the tool and the workpiece during friction stir welding was calculated based on the measured torque and axial force with a sampling frequency of 1000 Hz. The results showed that the torque and fraction of slipping present a variation with the same periodicity that is equal to the time of one tool rotation. A model was proposed to present the average slipping fraction under different process parameters. The variation of the contact condition between the tool and the workpiece in one rotation was explained.
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