1 Introduction

Lubricants contribute in energy saving and life of a mechanical system. Basically, lubricants are used for cooling, sealing, and lubrication. It adheres to the moving surfaces and thus forms fluid films, which separates the surfaces of moving parts [1] and also removes heat and wear particles from the system. Commercially available lubricants are composed of wide variety of base oil and additives. Base oils are broadly classified as mineral, synthetic, and biological oil [2].

Additives are used to maintain overall performance of the lubricant such as film formation, clotting, viscosity stabilizer, anti-corrosion, anti-wear, anti-friction, etc. [1]. Chemical additives such as sulphur, chlorine, phosphorous, etc. are added to improve the lubrication performance by forming a sacrificial chemical layer; however these additives have hazardous effect on the environment [3]. Some recent studies reveal the potential of nanoparticle additives [2]. Nanoparticle additives are divided into seven types, based on the characteristic chemical element: metal, metal oxide, carbon, sulphide, rare earth compounds, nanocomposite and others [4]. Nanolubricant shows significantly modified thermophysical and tribological properties [5,6,7,8].

Heat transfer and flow behavior of nanolubricants depends upon its thermophysical properties. Viscosity of nanolubricants determines the shearing force between the adjacent fluid layers, which is responsible for viscous friction. Kole and Dey [5] reported an increment of nearly 3 times in viscosity with the dispersion of 2.5% volume fraction of CuO nanoparticles in gear oil (IBP Hauli-68). Jatti and Singh [9] used 1.5% weight fraction of CuO nanoparticles in engine oil and reported 18.2% increment in viscosity. Considering ethylene glycol (EG) as base fluid, Xie et al. [10] reported 29.2% increment in viscosity with 5% volume fraction of MgO nanoparticles, whereas Yu et al. [11] observed 138% increment with 9% volume fraction of AlN nanoparticles. Kotia and Ghosh [7] reported 10.5% increment in viscosity with 0.5% volume fraction of Al2O3 nanoparticle in gear oil (SAE EP90). Ettefaghi et al. [12] observed 1.74% increment in viscosity with 0.2% volume fraction of carbon nanoballs (CNB) in engine oil (SAE 20 W50). Increment in viscosity with the addition of nanoparticles is attributed to agglomeration of nanoparticles in nanolubricants, which prevents easy movement of adjacent oil layers. Ettefaghi et al. [13, 14] reported a slight decrease in viscosity at lower volume fraction due to the presence of nanoparticles between the oil layers leading to easy movement of adjacent layers.

Thermal conductivity of lubricant plays a dominating role in determining its cooling behavior, however, the low thermal conductivity of conventional lubricants limit their performance. Recent studies show the application of nanoparticles as thermal conductivity improver [15]. Paul et al. [16] reported 200% increment in thermal conductivity of EG with 7% volume fraction of ZrO2 nanoparticles. Li et al. [17], with the same base fluid (EG) and volume fraction (7%), observed 9.13% enhancement in thermal conductivity using ZnO nanoparticles. This varying behavior with different nanoparticles in same base fluid motivates to summarize the results reported by various authors. Yu et al. [11] observed 38.71% increment in thermal conductivity of EG with 10% volume fraction of AlN nanoparticles. Authors reported the variation in thermal conductivity with volume fraction of nanoparticle is linear [11, 15, 17], which could be attributed to the lubricant layering [18]. However, some authors reported non-linear increment in thermal conductivity with nanoparticle volume fraction [10, 17].

Density of nanolubricants provides an account of nanoparticle additives it contains. Most of the authors have reported linear increment in density with nanoparticle volume fraction [7, 19, 20]. Mahbubul et al. [21] reported 0.54% increment in density of R141b refrigerant with 15% volume fraction of Al2O3 nanoparticles. Kedziersk [22] reported 10.9% increment in density of polyolestrol lubricant (RL68H) with 15% volume fraction of Al2O3 nanoparticles.

Specific heat contributes in heat transfer performance of nanolubricants [23]. Shin and Banerjee [24] reported 14.5% increment in specific heat of eutectic salt mixture lubricant with 1% volume fraction of SiO2 nanoparticles. The formation of chain like nanostructure is the probable reason for such enhancement. Ghazvini et al. [25] observed 30% increment in the specific heat of engine oil (SAE 20W40) with 1% weight fraction of nano-diamond. However, Elias et al. [23] reported 14% decrement in specific heat of EG with 1% volume fraction of Al2O3 nanoparticles. Authors reported that the nature of variation in specific heat of nanolubricants depends on the specific heat of nanoparticles [23, 25].

The main application of lubricants is to reduce the wear and maintain the surface quality [2]. The dispersed nanoparticles improve the tribological properties of base lubricants by various mechanisms like ball bearing effect [8, 26], mending effect [27], tribofilm formation [28], polishing effect [8, 29] etc. Tao et al. [8] reported that the diamond nanoparticles dispersed in paraffin oil, penetrates into the rubbing surfaces, which convert sliding motion into rolling motion by acting as ball bearing. Liu et al. [27] observed the deposition of Cu nanoparticles onto the wear scar using scanning tunneling microscopy, which is termed as mending effect. Zhou et al. [28] observed that the nanoparticle of Cu interact with the friction pair surfaces to form a tribofilm, which principally enhance the antiwear ability of the friction surfaces. Tang et al. [29] observed the decrease in surface roughness due to the surface polishing effect, which produces micro-plateaus with extremely smooth surfaces and almost uniform height. Lee et al. [30] reported 24% decrease in frictional coefficient for mineral oil using 0.5% volume fraction of graphite nanoparticles. Chang et al. [31] reported 60% reduction in frictional coefficient for lithium grease using 2% volume fraction of graphite nanoparticles. Kimura et al. [32] reported 75% reduction in wear for paraffinic mineral oils with 8% volume fraction of boron nitride (BN) nanoparticles. BN adheres to the surfaces and slightly increase the friction but significantly decreases the wear. Ma et al. [33] observed the negative wear with ZrO2 nanoparticles in machine oil, due to high deposition rate as compared to wear rate. Thottackkad et al. [34] reported that CeO2 nanoparticles display highest reduction (17%) in wear for coconut oil as compared to paraffin oil and engine oil. Authors have observed that the specific wear rate decreases at first then comes to a minimum level and then increases with the increase in volume fraction of nanoparticles.

Fig. 1 represents the various mechanisms involved in augmentation in thermophysical and tribological properties of nanolubricants. Thermophysical properties of nanolubricants are influenced by Brownian motion [35], particle agglomeration [5], clustering [6], interfacial layer [36] etc. Dispersed nanoparticles are contributed in mending, polishing, ball bearing and third body mechanism [2], which contributes in tribological property enhancement.

Fig. 1
figure 1

Graphical representation of different mechanisms involved with nanolubricant

The effect of nanoparticles additives on thermophysical and tribological properties of nanolubricants have been summarized in the present review. Various mechanism involved with the dispersion of nanoparticles is discussed in details. Nanolubricants are categorized on basis of nanoparticles type (metal, metal oxide, carbon, sulphide, rare earth compounds, nanocomposite and others) and base fluid (mineral, synthetic, and biological oil). This arrangement enables us to easily understand the properties enhancement mechanism involved with different nanoparticle additives.

2 Thermophysical properties

The thermophysical properties of nanolubricants are important factors for heat transfer performance of machines. These properties include viscosity, density, thermal conductivity and specific heat capacity. In the subsequent section, the variation of thermophysical properties with the dispersion of nanoparticles has been discussed.

2.1 Viscosity

Viscosity of a nanolubricant determines its load carrying capacity and viscous friction. Esfe et al. [37] dispersed 1% volume fraction of MWCNTs/SiO2 (hybrid) nanoparticles in engine oil (SAE 40) and observed 25% increment in viscosity. Kotia et al. [38] used 1.5% volume fraction of CuO nanoparticles in hydraulic oil (SAE 68) and reported 15% increment in viscosity. Ali et al. [39] observed 4.5% decrease in viscosity of engine oil (SAE 5 W30) with the dispersion of 0.05% weight fraction of Al2O3/TiO2 (hybrid) nanoparticles, which is beneficial for enhancement of automotive engine efficiency. Asadia et al. [40] dispersed 2% volume fraction of MWCNT/SiO2 (hybrid) nanoparticles in engine oil (SAE 50) and observed 25% increment in viscosity. Mariano et al. [20] used 5.7% volume fraction of Co3O4 nanoparticles in EG and observed 40% increment in viscosity. Fig. 2 [5, 7, 10, 11, 37, 38, 40,41,42,43,44] shows the viscosity of different types of nanolubricants. It has been observed that viscosity of nanolubricants increase with the dispersion of nanoparticles. A summary of viscosity of nanolubricants is shown in Table 1.

Fig. 2
figure 2

Viscosity results for nanolubricants [5, 7, 10, 11, 37, 38, 40,41,42,43,44]

Table 1 Summary of viscosity of nanolubricants

2.2 Thermal conductivity

Thermal conductivity of nanolubricants significantly contributes to its heat transfer behavior. Sharma et al. [46] reported 18% enhancement in thermal conductivity of EG with 1% volume fraction of silver nanoparticles. Wei et al. [47] observed 3.1% increment in thermal conductivity of diathermic oil (L-QC 320) with the dispersion of 1% volume fraction of TiO2 nanoparticles. The increment in thermal conductivity follows a linear trend with nanoparticle volume fraction. Li et al. [17] reported 14% increment in thermal conductivity of EG with 10.5% weight fraction of ZnO nanoparticles and also reported that this increment in thermal conductivity with concentration of nanoparticles is nonlinear. Aberoumand et al. [48] observed 18.5% enhancement in thermal conductivity with 0.72% weight fraction of Ag nanoparticles in heat transfer oil, which is further increased with the rise in temperature due to Brownian motion of nanoparticles. Sharif et al. [49] reported 4% increment in thermal conductivity of polyalkylene glycol with the dispersion of 1% volume fraction of Al2O3 nanoparticles, however it decreases with rise in temperature. Such ambiguous variation in behavior of nanolubricants, demands for a comprehensive study on them. Fig. 3 [6, 11, 16, 46, 47, 49,50,51,52,53,54,55,56] shows the thermal conductivity of different nanolubricant. It has been noted that thermal conductivity of nanolubricant enhanced with the dispersion of nanoparticle. A summary of thermal conductivity of nanolubricants is shown in Table 2.

Fig. 3
figure 3

Thermal conductivity results for nanolubricants [6, 11, 16, 46, 47, 49,50,51,52,53,54,55,56]

Table 2 Summary of thermal conductivity of nanolubricants

2.3 Density

Density of base lubricant significantly varies with the dispersion of particles, however its data in literature are still scarce [59]. Vajjha et al. [60] performed a bench mark study on measurement of the density of different nanolubricants. They reported 26.5%, 32.5% and 19.5% increment in density of EG with the dispersion of 10%, 5.8% and 6% volume fraction Al2O3, Sb2O5/SnO2 and ZnO nanoparticles respectively. Kedzierski [61] observed 50% increment in density of commercial polyolester (RL68H) with the dispersion of 39.2% weight fraction of CuO nanoparticles. Further, author reported 39.7% increment in density of same base lubricant with 39.6% weight fraction of Al2O3 nanoparticles [22]. Kotia and Ghosh [7] reported 6.5% increment in density of gear oil (SAE EP90) with the dispersion of 2% volume fraction of Al2O3 nanoparticles. Further, author reported 8.5% increment in density of hydraulic oil (SAE 68) with 1.5% volume fraction of CuO nanoparticles [38]. Dubey et al. [62] reported 1.5% increment in density of 150 N API Group II base oil with dispersion of 4% volume fraction of polytetrafluoroethylene (PTFE) polymer nanoparticles. Further they reported that the decrease in size of PTFE nanoparticles leads to rise in density, which is due to the increase Van der Waal’s interaction between particles and base fluid. Fig. 4 [7, 21, 22, 38, 60,61,62] shows the density of various nanolubricants. It has been noted that density of nanolubricants increases with the dispersion of nanoparticles. Table 3 summarizes the density of nanolubricants.

Fig. 4
figure 4

Variation in density of nanolubricants [7, 21, 22, 38, 60,61,62]

Table 3 Summary of density of nanolubricants

2.4 Specific heat

Specific heat is the key parameter for analyzing the heat transfer performance of nanolubricants. Murshed [63] dispersed 5% volume fraction, each of Al, Al2O3 and TiO2 nanoparticles in EG and observed 4.6%, 16.5% and 10.5% reduction in specific heat respectively. Also, 5% volume fraction of Al produces 13.5% reduction in specific heat of engine oil. Author mentioned that the low specific heat of nanoparticles as compared to base lubricant is responsible for the linear decrement in nanolubricant’s specific heat with nanoparticle volume fraction. Barbes et al. [64] observed 5.1% reduction in specific heat of EG with dispersion of 2.5% volume fraction of Al2O3 nanoparticles. Popa et al. [65] reported a minor decrement of 1.2% in specific heat with 5% volume fraction of Al2O3 nanoparticles in EG. Fig. 5 [24, 25, 63] shows the specific heat of various nanolubricants. Table 4 summarizes the specific heat of nanolubricants.

Fig. 5
figure 5

Variation in specific heat of nanolubricants [24, 25, 63]

Table 4 Summary of specific heats of nanolubricants

Diathermic oil: L-QC 320; Base oil: 500SN.

3 Coefficient of friction and anti-wear properties of nanolubricants

Dispersion of nanoparticles produces significant modification in coefficient of friction and anti-wear properties of base lubricants. The lubrication mechanism with nanoparticles as aforementioned includes rolling, triobofilm formation, mending, patching and surface polishing effect ([8, 26,27,28,29, 66]). In the subsequent section, the modification in coefficient of friction and anti-wear properties of base lubricant with the dispersion of nanoparticles has been discussed.

3.1 Coefficient of friction

Coefficient of friction is a crucial parameter for the performance of the lubricants. Lee et al. [30] observed 24% reduction in coefficient of friction with 0.5% volume fraction of graphite nanoparticles dispersed in gear oil (supergear oil EP220). The graphite nanoparticles act as ball bearing spacers between friction surfaces, which reduced contact between them. Chang et al. [31] reported 40% decrease in coefficient of friction with 1% weight fraction of TiO2 nanoparticles dispersed in lithium grease. This is attributed to rolling action by spherical nanoparticles, which is similar to micro bearing action. Wang et al. [67] observed 34% reduction in coefficient of friction with 0.15% weight fraction of Cu nanoparticles dispersed in mineral oil (SN650). The possible reason for this reduction may be due to the formation of self repairing film in lubricating oil, which separates the friction surfaces. Padgurskas et al. [68] reported 49% reduction in coefficient of friction with Cu nanoparticles (0.5 g) dispersed in SAE 10 mineral oil (100 ml), which is due to formation of metallic nanoparticle layer. Wu et al. [43] reported 18.4% reduction in coefficient of friction with 0.1% volume fraction of CuO nanoparticles dispersed in engine oil (SAE30 LB51153), which is attributed to rolling effect by spherical nanoparticles. Fig. 6 [9, 30, 31, 33, 34, 43, 66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84] shows the variation in friction coefficient for different nanolubricants. It has been observed that wide varieties of nanolubricants were tested for coefficient of frication property. It has been noted that that coefficient of friction improved in most of the cases. Table 5 shows the summary of variation in frictional coefficient with dispersion of nanoparticles.

Fig. 6
figure 6

Variation in coefficient of friction for nanolubricant [9, 30, 31, 33, 34, 43, 66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84]

Table 5 Variation of frictional coefficient with the dispersion of nanoparticles

3.2 Anti-wear

Anti-wear properties of nanolubricants are responsible for durability of equipment. Sia et al. [91] reported significant reduction in wear with 0.5% weight fraction of SiO2 nanoparticles in mineral oil (Ecocut HSG 905), which is attributed to the deposition of nanoparticles in surface grooves. However at 0.8% weight fraction of SiO2 nanoparticles, degradation in behavior is observed due to collision of nanoparticles, which leads to less deposition of nanoparticles. Chang et al. [31] observed 60% decrease in wear with 2% weight fraction of CuO nanoparticles dispersed in lithium grease. CuO nanoparticles penetrate into asperities of the rubbing surfaces and form a protective tribofilm. Zhang et al. [74] reported 90% reduction in wear with 0.5% weight fraction of Cu nanoparticles dispersed in engine oil (SJ 15 W/40). It was observed that initially the Cu nanoparticles tribolayer between the rubbing surfaces is desorbed due to rubbing process. But, due to the enough energy on the fresh wear surface, Cu gets attached on the shearing surface easily by melting and welding. The formation of in-situ protective layer, compensate the wear loss of tribo-pairs. Wang et al. [67] observed formation of self repairing film, which lead to 32% reduction in width of worn trace with 0.15% weight fraction of Cu nanoparticles dispersed in mineral oil (SN650). Padgurskas et al. [68] used Fe, Cu and Co nanoparticles (0.5 g) and their combinations in SAE 10 mineral oil (100 ml). It was observed that a maximum reduction of 47% in wear with Cu nanoparticles, where as 23% and 11% reductions are observed with Fe and Co nanoparticle respectively. Wu et al. [43] observed 78.8% reduction in worn scar depth with 0.1% volume fraction of CuO nanoparticles dispersed in base oil (SAE30 LB51163–11), which is attributed to deposition of CuO nanoparticles on the worn surface. Fig. 7 [9, 31,32,33,34, 39, 43, 66,67,68, 70,71,72,73,74,75,76, 78,79,80,81, 86, 92,93,94] shows the anti-wear properties of different nanolubricants. Table 6 shows the summary of variation in wear with dispersion of nanoparticles.

Fig. 7
figure 7

Variation in wear for different nanolubricants [9, 31,32,33,34, 39, 43, 66,67,68, 70,71,72,73,74,75,76, 78,79,80,81, 86, 92,93,94]. where WPL-wear path length, WTW-wear trace width, WSD-wear scar dia, WoSD-worn scar depth and SR-Surface roughness

Table 6 Summary of wear with the dispersion of nanoparticles

Engine oil: SE15W40, SAE20W40, 10 W30, Turbo oil; Mineral oil: Supergear EP220, SAE10, SN 650; Refrigerant oil: R-22; Commercial oil: R68.

Figure 8 represents the fraction of research data available in open literature for different properties of nanolubricants. It has been observed that friction coefficient and anti-wear properties of nanolubricants are widely investigated, which also indicates the positive attitude of research community towards potential nanoparticle additives. It has also been noted that there are only few experimental results are reported for density and specific heat of nanolubricants, however well established mathematical models are widely used for prediction in variation of these with varying nanoparticle volume fraction.

Fig. 8
figure 8

Fractions of results available for different properties of nanolubricant

4 Concluding remarks

This review article summarizes the effect of nanoparticle additives on thermophysical and tribological properties of base lubricants. Various mechanisms evolve with the dispersion of nanoparticles, which contributes to enhancement of thermophysical and tribological properties, are also discussed. This review provides a platform for the comparative study for properties of different nanoparticle and base lubricant combinations.

Most of the research groups have reported increment in viscosity with nanoparticles volume fraction, however a slight decrement is also reported at lower volume fraction. Dispersion of nanoparticles improves the thermal conductivity of lubricant, which is attributed to nanoparticles size, shape and volume fraction. Density of nanolubricant is varied with the addition of nanoparticles. Smaller size and higher volume fraction of nanoparticles leads to increment in density. Nanoparticles having higher specific heat, contributes in increment in specific heat of nanolubricants. However, most of the nanoparticles (metal and metal oxide) produce decrement in specific heat, which is due to their lower specific heat. Coefficient of friction and anti-wear properties of nanolubricant are significantly enhanced as compared to base lubricant due to various mechanisms such as ball bearing, mending, tribofilm formation and surface polishing effects. Metal and metal oxide nanoparticles are most widely used as additives to produce enhancement in the properties of lubricants.

Thus, the prospect of using nanolubricants as an alternative to conventional lubricants appears to be very promising.