Rolling Mechanism Research Articles

Design and Assessment of a Linear Drive‐Controlled Tilt‐Roll Heliostat with Sun Tracking Algorithm for Small‐Scale Solar Installation

Heliostats are devices used for solar concentration that use mirrors oriented according to the position of the sun. A heliostat's main function is to redirect sunlight for use in a variety of applications, including heating, lighting, scientific research, and solar power generation. The two‐axis tracking employed in the device ensures that the reflected irradiance is aimed at a predetermined target. The design and evaluation of a tilt‐roll two‐axis tracking heliostat are presented in this article. The model consists of a mirror 0.45 m in width and 0.45 m in length installed on a pedestal of height 0.75 m. The motion of the heliostat is controlled using two separate linear drives via a sun‐tracking algorithm implemented in a microcontroller. A small‐scale tilt‐roll design with a reflective area (mirror) of 0.2025 m2 is established. This novel design eliminates the need for commercially available solar tracking systems and can be deployed in areas of limited installation space. Dual‐axis heliostat design used here provides an effective way to track the sun's movement for maximum solar energy capture by combining tilt and roll mechanisms. This design ensures tracking precision for optimal solar energy concentration making it well‐suited for experimental and smaller‐scale deployments.

Gait planning of a 4–5R rolling mechanism based on the planar 6R single-loop chain

Abstract. This paper proposes a 4–5R rolling mechanism based on the spatial extension design of a planar 6R single-loop chain. By analyzing the locomotion of the planar equivalent form, a modular gait theory integrating different modes of gait with high efficiency, low energy consumption, and high speed is established. A unified kinematic strategy expression, encapsulated in the form of the gait period table, is tailored for the kinematic chain's gait on the flat terrain. A contrast gait is conducted to ascertain its velocity parameters and volatility of the center of mass (CM). By optimizing the corresponding indicators, two distinct gait patterns are achieved: a faster speed gait that prioritizes increased speed and a steady gait that emphasizes stability with reduced CM volatility. Drawing from the mobility analysis and simulation outcomes of the planar 6R single-loop kinematic chain, a theory of locomotion for a closed-chain linkage mechanism in space is proposed. A locomotion strategy on the flat ground is derived, and a unified evaluation index is proposed. Finally, the feasibility of the two working modes is verified using a physical prototype. The theoretical work in this paper simplifies the design process of closed-chain linkage robots and improves the mobility performance of closed-chain linkage robots. It lays the foundation for researching new types of closed-chain linkage robots.

Grain refinement and mechanical properties improvement of additively manufactured Al-Cu alloy through pre-deformation in thermo-mechanical treatment

Inferior mechanical properties induced by porosity and coarse grains of wire-arc additively manufactured Al-Cu alloy restrict its industrial application. The inter-layer cold rolling, conventional heat treatment (T6) and thermo-mechanical heat treatment (T8) was applied to Al-Cu alloy, and the effect of pre-stretched strain in T8 treatment was investigated. The pre-stretched strain induces equal increments of hardness and YS for both the as-deposited and cold-rolled conditions before aging treatment, while the increments for cold-rolled samples are larger after aging treatment. The cold-rolled sample shows better tensile properties than the as-deposited sample with the same pre-stretched strain in T8 treatment, proving that T8 treatment further increased the strengths compared to the T6 treatment. It shows the best tensile properties with the pre-stretched strain of 5 %, exceeding the properties of 2219-T87 plate. With the increased pre-stretched strain, the density of the θ′ phases significantly increases; while further increase to 10 % pre-stretched strain induces severe coarsening of θ′ phases. Therefore, an optimized pre-stretched strain leads to high-density and tiny dispersed θ′ phases, thus resulting in the best tensile properties. Grain refinement induced by inter-layer cold rolling and uniformly precipitated phases resulted from proper pre-stretched strain both contribute to the strengths enhancement. The strengthening mechanism of hybrid additive manufacturing and inter-layer cold rolling followed by T8 treatment was discussed.

Evaluation of lubrication mechanism of hybrid nanolubricants in turning hardened AISI D6 tool steel

Turning of hardened tool steels has posed a significant challenge for machining professionals. Usually, hardened tool steels are machined under dry with ceramic or PCBN inserts. However, dry machining imposes a condition where high cutting temperatures are developed, which becomes prohibitive when the part's geometric and dimensional accuracy is required. On the other hand, using mineral oil-based cutting fluid has encountered increasing restrictions because of its unsustainable nature. In this context, developing new sustainable lubri-cooling techniques, such as using vegetable oils blended with nanoparticles, could be an appropriate alternative. Thus, the main objective of this study was to investigate the performance of three different vegetable oil-based nanolubricants blended with three different nanoparticles (CuO, a-C:H, and CuO + a-C:H), applied under MQL when machining a quenched and tempered AISI D6 tool steel. For this purpose, facing turning trials were performed using solid PCBN inserts with the following cutting parameters: Vc = 100 m/min, ap = 0.3 mm, and f = 0.1 mm/rev. For comparison, facing turning tests were performed under dry and pure vegetable oil (without nanoparticles) and applied under MQL. Output variables included average surface roughness (Ra), flank wear (VBC), wear mechanisms of the cutting edge, chip shape, and chip compression ratio (Rc). The results showed that the vegetable oil-based nanolubricants applied under MQL improved the tribological conditions in the chip-tool and workpiece-tool interfaces, mainly in the case of CuO + a-C:H nanolubricant. In this case, it enhanced the lubricating action of the vegetable oil, decreasing cutting tool wear probably because of the combination of rolling mechanism, - provided by the CuO nanoparticles, and the formation of a protective film, supplied by the a-C:H nanoparticles.

Microstructure, deformation and fracture mechanism of Mg-Gd-Y-Zn-Zr alloy with different rolling routes during tension

The microstructure, deformation and fracture mechanism of unidirectional rolling (UR) and cross rolling (CR) Mg-4.7Gd-3.4Y-1.2Zn-0.5Zr alloy during tension were studied. Both rolled alloys exhibit typical bimodal microstructures, with the difference being that UR alloy has elongated grains containing rod LPSO phase, while CR alloy has relatively rounded deformed grains containing lamellar LPSO phase. After tension until fracture, the LPSO phase morphology of the two alloys remains unchanged. CR alloy exhibits a higher yield strength and lower elongation than UR alloy. Although the higher average basal <a> slip Schmid factor result in the lower yield strength of UR alloy, the activation of the high proportion of non-basal slip is responsible for its higher elongation. UR alloy and CR alloy exhibit ductile fracture and quasi cleavage fracture characteristics, respectively. For UR alloy, a variety of dislocations accumulated near grain boundary and the weak slip transfer effects between grains both contributes to the propagation of grain boundary cracks. However, the effects of weak interfacial bonding between metastable lamellar LPSO phase and matrix, along with the similar orientation and higher geometric compatibility of CR alloy, lead to the rapid spread of transgranular cracks.

Dynamic Scheduling Optimization of Automatic Guide Vehicle for Terminal Delivery under Uncertain Conditions

As an important part of urban terminal delivery, automated guided vehicles (AGVs) have been widely used in the field of takeout delivery. Due to the real-time generation of takeout orders, the delivery system is required to be extremely dynamic, so the AGV needs to be dynamically scheduled. At the same time, the uncertainty in the delivery process (such as the meal preparation time) further increases the complexity and difficulty of AGV scheduling. Considering the influence of these two factors, the method of embedding a stochastic programming model into a rolling mechanism is adopted to optimize the AGV delivery routing. Specifically, to handle real-time orders under dynamic demand, an optimization mechanism based on a rolling scheduling framework is proposed, which allows the AGV’s route to be continuously updated. Unlike most VRP models, an open chain structure is used to describe the dynamic delivery path of AGVs. In order to deal with the impact of uncertain meal preparation time on route planning, a stochastic programming model is formulated with the purpose of minimizing the expected order timeout rate and the total customer waiting time. In addition, an effective path merging strategy and after-effects strategy are also considered in the model. In order to solve the proposed mathematical programming model, a multi-objective optimization algorithm based on a NSGA-III framework is developed. Finally, a series of experimental results demonstrate the effectiveness and superiority of the proposed model and algorithm.

Forecasting medical waste in Istanbul using a novel nonlinear grey Bernoulli model optimized by firefly algorithm.

Waste management has gained global importance, aligning with the escalating impact of the COVID-19 pandemic and the associated concerns regarding medical waste, which poses threats to public health and environmental sustainability. In Istanbul, medical waste is considered a significant concern due to the rising volume of this waste, along with challenges in collection, incineration and storage. At this juncture, precise estimation of the waste volume is crucial for resource planning and allocation. This study, thus, aims to estimate the volume of medical waste in Istanbul using the nonlinear grey Bernoulli model (NGBM(1,1)) and the firefly algorithm (FA). In other words, this study introduces a novel hybrid model, termed as FA-NGBM(1,1), for predicting waste amount in Istanbul. Within this model, prediction accuracy is enhanced through a rolling mechanism and parameter optimization. The effectiveness of this model is compared with the classical GM(1,1) model, the GM(1,1) model optimized with the FA (FA-GM(1,1)), the fractional grey model optimized with the FA (FA-FGM(1,1)) and linear regression. Numerical results indicate that the proposed FA-NGBM(1,1) hybrid model yields lower prediction error with a mean absolute percentage error value 3.47% and 2.57%, respectively, for both testing and validation data compared to other prediction algorithms. The uniqueness of this study is rooted in the process of initially optimizing the parameters for the NGBM(1,1) algorithm using the FA for medical waste estimation in Istanbul. This study also forecasts the amount of medical waste in Istanbul for the next 3 years, indicating a dramatic increase. This suggests that new policies should be promptly considered by decision-makers and practitioners.

Rolling mechanism profundities on material removal mechanism of surface-textured GaN using Molecular dynamics simulation

Molecular dynamics simulation examines how the polishing tool's rotating velocity and axes affect surface nanotribological properties and material removal mechanism of patterned gallium nitride (GaN) substrates. Frictional coefficient and average contact area affect material removal rate (MRR) variance. Rotating speed increases the frictional coefficient and contact area, elevating MRR. Anticlockwise abrasives have substantially higher root-mean-square roughness (RMS) than clockwise ones. After polishing, increasing the rotating angle increases the frictional coefficient, average contact area, MRR, and RMS. MRR enhancement is maximum at −15 rad/ns, the only spinning velocity that improves MRR. RMS improvement ratio is highest when the polishing tool spins clockwise or the rotational axis orientation is lowered. Particularly, the MRR and RMS improvements after the polishing process can reach 103.8 % and 223.5 %, respectively. These findings help explain atomic-scale GaN-based material removal and deformation with frictional resistance and erosion by polishing.

Touch-free tissue dispensing device

In this paper, an innovative solution for the everyday issue of tissue dispensing is presented. With billions of tissues distributed daily, the current dispensers often face challenges, as revealed in studies of frequently damaged units. The primary objective was to enhance this fundamental item, aiming to simplify users’ lives. The key innovation lies in granting users control over the tissue dispenser’s rolling mechanism. Introducing the Arduino UNO microcontroller-powered smart tissue dispenser. Operated by a stepper motor, the dispenser reacts to the user’s needs. Activation occurs when the infrared sensor detects hands, prompting the motor to release the appropriate amount of tissue. It’s like witnessing magic, yet it’s simply the ingenuity of technology at play. The software for the Arduino UNO, serving as the project’s controller, is compiled, and uploaded using the Arduino IDE. The performance of this automatic tissue dispenser indicates success in addressing common issues and facilitating effortless tissue retrieval.

The gross reproductive morphology of the male Temminck's pangolin Smutsia temminckii (Smuts, 1832)

AbstractThe Temminck's pangolin (Smutsia temminckii) is one of eight pangolin species worldwide and the only pangolin present in southern Africa. Historically, pangolins have not been able to reproduce successfully in captivity and this may be in part due to the lack of knowledge and understanding with regards to the pangolin reproductive system (anatomy, physiology, biology) in all eight species. This original study describes the gross anatomy of the male Temminck's pangolin from three adult individuals investigated. The male Temminck's pangolin presented a short, conical penis with ascrotal (internal) testes, similar to many other myrmecophagous mammals such as the aardvark (Orycteropus sp.) and anteaters (suborder: Vermilingua). However, the orientation of the penis of the Temminck's pangolin differed in that it was oriented cranioventrally, in contrast to the caudal orientation of the giant anteater. The testes were found to be bilaterally flattened with an elongate oval shape, similar to the aardvark. The specific characteristics of the reproductive tract of the male Temminck's pangolins are thought to be adaptations to their peculiar lifestyle as the male portrays characteristics that indicate adaptation to a lower basal metabolic rate and body temperature as well as to their defensive mechanism of rolling up into a ball. Our study suggests the male Temminck's pangolin reproductive anatomy is most similar and comparable to the Xenarthrans and the aardvark that display the same fossorial activities as pangolins, and the male morphology is not comparable to the phylogenetically closely‐related Carnivora.

Exploration of improved, roller-based spreading strategies for cohesive powders in additive manufacturing via coupled DEM-FEM simulations

Spreading of fine (D50 ≤20μm) powders into thin layers, such as required by layer-wise additive manufacturing (AM) processes, typically requires a mechanism such as a roller that provides adequate shear and compression to overcome the cohesive forces between particles. We explore improved, roller-based spreading strategies for highly cohesive powders using an integrated discrete element-finite element (DEM-FEM) framework. We find that optimal roller-based spreading, quantified by maximum packing density and uniformity of layer thickness, relies on a combination of surface friction of the roller and roller kinematics, e.g., counter-rotation or angular oscillation, that impart sufficient kinetic energy to break cohesive bonds between powder particles. However, excess rotation speed (or shear stress) can impart excessive kinetic energy to the powder causing ejection of particles and a non-uniform layer, suggesting the existence of a process window of optimal spreading parameters. Interestingly, the identified optimal parameters for both investigated roller kinematics, i.e., angular velocity for counter-rotation as well as angular frequency and amplitude for rotational oscillation, result in a very similar range of roller surface velocities, suggesting roller surface velocity as the critical kinematic parameter. When these conditions are chosen appropriately, layers with packing fractions beyond 50% are predicted for layer thicknesses as small as ∼2 times D90 of the exemplary cohesive powder, and the layer quality is robust with respect to substrate adhesion over a 10-fold range. The latter is an important consideration given the spatially varying substrate conditions in AM due to the combination of fused/bound and bare powder regions. As compared to counter-rotation, the proposed rotational oscillation kinematics are particularly attractive because they can overcome practical issues with mechanical runout of roller mechanisms (which limit their precision).

Design and Experiments of the Data Acquisition System for Bale Rolling Characteristic Parameters on a Large-Scale Round Bale Machine

The parameters of the roll characteristics of a large-scale round bale machine were collected in real time to investigate the bale rolling mechanism. This investigation develops a set of adaptable and highly integrated data acquisition systems for the bale rolling performance parameters of large-type round bale machines. A rolling experiment is conducted using sunflower straw as the material, and the power consumption and radial tension of the roller-round bale machine during the bale rolling process are studied. In the grass core formation stage, the round bale machine’s torque need was minimal, the radial tension of the bale remained nearly constant, and the bale chamber was primarily filled with loose sunflower straw. The motor torque and the straw bale’s radial tension both showed a tendency of gradual increase when the round bale machine was in the grass-filling stage. The motor torque and bale radial tension displayed a roughly linear trend of rapid rise as the sunflower straw continued to enter the rolling bale chamber; this was when the round bale machine was in the compressed bale rolling stage. When the power consumption of the round bale machine was measured using the data acquisition system during the test bench empty run and core-creation stage, the energy consumption comparison analysis produced a relative error of 5.8%. During the stage of bale rolling and compression, the data acquisition system monitored the power consumption of the round bale machine. The relative error was 9.5%. The data acquisition system of the round bale machine test bed has an accuracy of 90.5%–94.2% when measuring the machine’s power consumption, indicating that it is a stable and efficient system. This study provides a foundation for further research on intelligent the roller-round bale machine.

Rolling Mechanism of Launch Vehicle during the Prelaunch Phase in Sea Launch

During the sea launch of a launch vehicle in low sea state, a rolling phenomenon of the launch vehicle has been observed. In rough sea conditions, launch may failure. This study utilizes dimensionality reduction-driven spatial system projection methods and virtual prototype modeling technology to reveal that the launch vehicle’s rolling is caused by differences in the motion paths of the center of mass. Additionally, during the prelaunch stage, the variation in the trajectory of the launch vehicle’s center of mass caused by the rolling and pitching motions of the transportation vessel has a significant impact on the roll motion of the launch vehicle. The motion in other degrees of freedom has minimal influence on the launch vehicle’s rolling. The minimum rocket rolling occurs when the dynamic coefficient of friction of the launchpad–launch vehicle contact is 0.05, and the dynamic coefficient of friction of the adapters and guideways is 0.4. The conclusions provide a theoretical foundation for optimizing the sea launch system and enhancing the reliability of sea launch in rough sea conditions.

Effects of natural fracture reopening on proppant transport in supercritical CO2 fracturing: A CFD-DEM study

The reopening of natural fractures reshapes the proppant beds in hydraulic fractures, especially at fracture intersections, critically influencing subsequent proppant migration. However, studies on the effects of proppant bed shapes on post-reopening proppant migration are limited. To address this gap, a moving wall boundary technique is integrated into a Computational Fluid Dynamics–Discrete Element Method (CFD-DEM) framework to model natural fracture reopening, enabling an in-depth analysis of how proppant bed reshaping impacts subsequent proppant migration during supercritical CO2 fracturing. Results reveal that proppant migration into natural fractures is governed by both drag force-induced and gravity-induced rolling mechanisms, with the latter exerting a more significant effect. The gravity-induced rolling mechanism is enhanced by five key factors: (a) the generation of a well-developed proppant pack in proximity to the intersection; (b) the inadequately filled V-shaped gully; (c) the increased proppant transport capacity within the natural fracture; (d) the reduced bypassing of proppants at the intersection; and (e) the improved ability of proppants to enter the natural fracture. The enhanced gravity-induced rolling mechanism significantly increases the proppants flowing into natural fractures: by 35.6% between the central and rearward section cases, 168.9% from mild to severe plugging cases, 39.1% with a wider natural fracture width (1.5 mm–2.5 mm), 20.3% with decreased hydraulic fracture flow rate (0.35 m/s to 0.25 m/s), and 33% with reduced fluid temperature (160 °C–40 °C). These findings underscore the impact of natural fracture reopening on subsequent proppant migration, offering valuable insights for optimizing fracturing designs.

Predicting the Intensity of Tropical Cyclones over the Western North Pacific Using a Dual-Branch Spatiotemporal Attention Convolutional Network

Abstract This paper proposes a spatiotemporal attention convolutional network (STAC-Pred) that leverages deep learning techniques to model the spatiotemporal features of tropical cyclones (TCs) and enable real-time prediction of their intensity. The proposed model employs dual branches to concurrently extract and integrate features from intensity heatmaps and satellite cloud imagery. Additionally, a residual attention (RA) module is integrated into the three-channel cloud imagery convolution process to automatically respond to high wind speed regions. TC’s longitude, latitude, and radius of winds are injected into the multi-timepoint prediction model to assist in the prediction task. Furthermore, a rolling mechanism (RM) is employed to smooth the fluctuation of losses, achieving accurate prediction of TC intensity. We use several TC records to evaluate and validate the universality and effectiveness of the model. The results indicate that STAC-Pred achieves satisfactory performance. Specifically, the STAC-Pred model improves prediction performance by 47.69% and 28.26% compared to the baseline (official institutions) at 3- and 6-h intervals, respectively. Significance Statement Tropical cyclones are one of the most deadly and damaging natural disasters in coastal areas worldwide. Early prediction can significantly reduce casualties and property losses. This study innovatively conducts dimensionality augmentation on one-dimensional intensity numerical sequences and proposes a new network model for rolling forecast of their future intensity. The proposed prototype model (not yet incorporating any atmospheric conditions) shows promising results for 3- and 6-h advance forecasts, providing valuable guidance for forecasters regarding real-time operational predictions of short-term tropical cyclone intensity.

Hybrid interlayer hot rolling and wire arc additive manufacturing of Al-Mg alloy: Microstructure, mechanical properties and strengthening mechanism

Considering the deformation-strengthening benefits of Al-Mg alloy and the high forming efficiency offered by wire and arc additive manufacturing (WAAM), the microstructure evolution and strengthening mechanism of hybrid interlayer hot rolling and wire arc additive manufacturing (HR-WAAM) samples have been systematically investigated in this study. The results indicate that interlayer hot rolling can effectively reduce the size and number of pores, which diminishes the stress concentration areas. Additionally, rolling deformation significantly enhances the effect of dislocation strengthening. Furthermore, a high density of dislocations can promote recrystallization to refine grain size, while also improving grain orientation, all of which contribute to better stress distribution. Due to these reasons, the strength and toughness of the alloy are notably improved. The average ultimate tensile strength (UTS), yield strength (YS), and elongation (EL) values achieved by HR-WAAM samples were 338 MPa, 276 MPa, and 20.9%, respectively. These values represent increases of 28.5%, 41.5%, and 38.4% compared to conventional WAAM samples. These findings are expected to provide an efficient and cost-effective method for additive manufacturing (AM) of deformation-strengthened aluminum alloys.

Integrated rescheduling optimization of berth allocation and quay crane allocation with shifting strategies

Container terminal operations are a core aspect of vessel operations in ports and necessitate an intelligent rescheduling approach to manage complex uncertainty scenarios. This paper investigates the problem of berth allocation and quay crane (QC) assignment with shifting strategies. A variable-length rolling mechanism (VLRM) is designed to identify uncertainty scenarios and determine the optimal rescheduling time point. Notably, we introduce a novel cross-wharf shifting movements strategy (CWSM) and develop a rescheduling model that accounts for constraints related to tidal time windows. The proposed Adaptive Large Neighborhood Search algorithm (ALNS) is tailored to solve this problem effectively. Computational results from various instance sizes validate the efficacy of both the model and the ALNS algorithm. These results demonstrate that the ALNS algorithm exhibits distinct advantages in solution quality and computational time for large-scale instances. Furthermore, the inclusion of tidal time window constraints significantly amplifies the complexity of uncertainty scenarios, emphasizing their importance and the impossibility of neglecting them. The cross-wharf shifting movements strategy, presented herein, effectively mitigates the impact of uncertainty scenarios within a defined scope while enhancing adjustment flexibility.

Edge drop prediction of hot-rolled silicon steel based on a mechanism and data model

In this article, a high-precision edge drop prediction model for hot-rolled silicon steel based on a rolling mechanism and deep neural network (DNN) is proposed. Considering the initial roll shape, roll wear and roll thermal expansion, a mechanism model of the roll system is established according to the hot rolling 4-high finishing mill. In order to reduce the data dimension and effectively improve the prediction accuracy, the random forest algorithm is employed to analyse the feature parameters that affect the edge drop of hot-rolled silicon steel. Finally, the DNN is introduced to establish an accurate silicon steel edge drop prediction model based on mechanism data and rolling data. The experimental results demonstrated that the proposed DNN model has strong generalisation and reliability with a squared correlation coefficient ( R2) of 0.9656, and it is suitable for application in hot-rolled silicon steel lines for predicting edge drop. Furthermore, the proposed model has a certain reference value for the hot rolling process.

Vibration‐Enabled Mobility of Liquid Metal

AbstractDirected liquid metal (gallium‐based) manipulation and actuation are paramount for copious applications, including soft robotics, soft electronics, and targeted drug delivery. Although there are several strategies available to achieve mobility of liquid metals in a “wet” environment. Strategies to achieve and improve mobility of liquid metal droplets and puddles in a “dry” environment are scarce and rely on metallophobic surface design or liquid metal marbles. Here, high mobility of Galinstan is elucidated by combining metallophobic surface design and vertical vibrations. Vibration frequencies between 20 and 30 Hz are conducive to droplet movement and threshold inclination angles of 0.5° to 1° are observed upon actuation by these vibrations. The method itself is applicable for a wide range of droplet sizes (30 and 2000 µL) and very robust. The droplet movement typically comprises of periodic receding and advancing of the droplet and commences via a rolling mechanism rather than a gliding mechanism. Finally, it is shown that small (0.5 mm height) obstacles can be traversed by this method, indicating that it can be used in concert with other strategies, such as surface structuring strategies, which open up pathways for mobility and controlled actuation of liquid metal droplets in air.

Tribological behavior of electric vehicle transmission oils using Al2O3 nanoadditives

Antifriction and antiwear performances of Al2O3 nanoparticles (NPs) as additives of an automatic transmission fluid, ATF, are presented in this research. For this purpose, four nanodispersions were formulated: ATF + 0.05 wt% Al2O3 NPs, ATF + 0.10 wt% Al2O3 NPs, ATF + 0.15 wt% Al2O3 NPs and ATF + 0.20 wt% Al2O3 NPs to identify the optimal concentration of additive. Tribological experiments were taken at pure sliding conditions, with the formulated nanolubricants and the ATF, under a working load of 20 N. The four nanolubricants tested resulted in lower friction coefficients than those obtained using ATF, reaching a maximum reduction of 6 % with the ATF + 0.10 wt% Al2O3 nanolubricant. The tribological pairs tested with the Al2O3 nanolubricants show lower wear than those tested with the ATF, having the best wear decrease with the ATF + 0.10 wt% Al2O3 nanolubricant, with reductions of 45, 57 and 78 %, respectively, in diameter, depth and area of the wear scar. Furthermore, by means of confocal Raman microscopy, roughness evaluation and SEM-EDX of the worn tribological specimens, it can be determined that mending, tribo-sintering as well as rolling mechanisms occur.