“…Linear FSW performance does not depend upon many adaptations other than effective clamping; however, when using a standard milling machine for an OFSW procedure, such as the joining of tubes or cylindrical workpieces, some apparatus is required to be incorporated into the milling machine not only as a holding mechanism for the workpieces to be joined, supporting all the forces and torques inherent to FSW, but also to be responsible for the rotation of the workpiece at a constant speed (travel speed) beneath a rotating stationary tool of the milling machine. This apparatus is referred to as the "Orbital Clamping Unit" [58]. When designing this clamping device, several characteristics of the process, such as torque, spindle speed, plunge load, transverse load, and slide force, should be evaluated and quantified, as it must support all the forces inherent to the process.…”