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ELASTO-DYNAMIC MODEL OF ROBOTIC MILLING PROCESS CONSIDERING INTERACTION BETWEEN TOOL AND WORKPIECE

ELASTO-DYNAMIC MODEL OF ROBOTIC MILLING PROCESS CONSIDERING ...

引用

11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Bondarenko, D. Pashkevich, A. Briot, S. Ritou, M. Furet, B. CNRS UMR 6597 Inst Rech Commun & Cybernet Nantes IRCCyN F-44321 Nantes France

ISBN: (纸本)9780791844861

In this paper, a reduced elasto-dynamic model of the robotic based milling process is presented. In contrast to previous works, it takes into account the interaction between the milling tool and the workpiece that depends on the end-effector position, process parameters and cutting conditions (spindle rotation, feed rate, geometry of the tool, etc.). To reduce the dimension of the problem, the robot dynamics is described as an equivalent mass-spring-damper system with six dimensions. this approach, based on the Rayleigh-Ritz approximation, aims at decreasing computational cost and at avoiding inaccuracy due to ill-conditioning in the full size model. To achieve a realistic modeling of the milling process, the machining efforts due to the interaction between robot, tool and working material are introduced into the robot model and calculated at each time instant. Using this global model that integrates the robot dynamics and the milling process particularities, it is possible to obtain the movement of the robot end-effector and corresponding quality of the final product (profile, macro geometry, etc.). In addition, this model allows selecting the best process parameters and avoiding the vibratory behavior of this machining system which can dramatically affect the milling quality. the developed model is applied to the behavior analysis of KUKA KR270 robot used for milling applications. this allows finding acceptable range for robot motion profile parameters.

关键词： Robot elasto-dynamic model cutting force model vibratory analysis milling

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MODAL MODELING OF MICRO-MACHINING CENTER

MODAL MODELING OF MICRO-MACHINING CENTER

引用

11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Chodzko, Marcin Marchelek, Krzysztof West Pomeranian Univ Technol Szczecin Fac Mech Engn & Mechatron Szczecin Poland

ISBN: (纸本)9780791844854

Modeling of dynamic properties of machine tools has a significant influence on improvement of its construction. this process is extremely important when a new construction of machine tool is under development. Experimental modal analysis provides information about frequency bandwidths with significant amplitudes of resonances, damping values and mode shapes. this information can be used in FEM model updating, stability prediction or finding weak elements of the machine tool structure as well. In the paper the modal model of prototype of the micro machining center is presented. Polymax algorithm was used to estimate the poles (frequency, damping) of modal model and modal shapes. Modal model was built on the basis of the impact test results. Methodology of conducted experimental test is presented. Tested machine tool was made of different materials (steel, aluminum, stone and others) which causes difficulties during experimental investigations. In the construction different types of guideways were implemented rolling, slide and pneumatic ones. Maximum rotational speed of the tool is about 100 000 rev/min, so the frequency range where poles of modal model are estimated is wide (high frequencies of excitation during machining). Weight of sensors used during testing is an important issue due to a low mass of the structure. Also the excitation of the structure is troublesome because of vulnerability of precise guideways and forces sensors used in machine tool construction. Validation of the modal model is also presented in the paper and practical problems of modal testing are discussed.

关键词： Modal analysis Dynamics Micro-machining

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PERFORMANCE ASSESSMENT OF HEXAHEDRAL MESHING MEthODS FOR design AND MECHANICAL analysis OF COMPOSITE MATERIALS

PERFORMANCE ASSESSMENT OF HEXAHEDRAL MESHING METHODS FOR DES...

引用

11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Podshivalov, Lev Fischer, Anath Bar-Yoseph, Pinhas Z. Technion Israel Inst Technol Fac Mech Engn Lab CAD IL-32000 Haifa Israel

ISBN: (纸本)9780791844847

Composite materials can be designed and modeled as material volumes with inclusions of several materials. these multiple inclusions are randomly distributed in a unit cube volume according to the material parameters (density, dimensions, orientation etc.). then, the finite element (FE) analysis method is applied on the resulting structure to estimate the equivalent material properties. therefore, these models should to be meshed prior to mechanical FE analysis. Automatic high quality hexahedral meshing is considered a very complex task. Hence, despite extensive research, currently there are no robust methods that can handle grain-based geometry. Meshing a composite material modeled by multiple inclusions presents a number of challenges: (a) the meshing needs to be robust to dimensions, position and orientation of the inclusions;(b) mesh continuity must be achieved on the boundaries between the volume (also known as the matrix) and the inclusions;(c) the mesh needs to approximate the original geometric model with high accuracy;and (d) high quality mesh elements are required for mechanical analysis. Structured and unstructured meshing methods can be used for handling this task. In this research two meshing methods were developed to generate high quality meshes: (a) structured meshing created by warping the grid according to the model's geometry, and (b) unstructured meshing created by projecting the nodes onto the boundaries of the inclusions to achieve exact geometric representation. the performance of these methods was then evaluated and compared on composite materials with ellipsoidal inclusions. Among the performance criteria for these methods are mesh element quality, geometry approximation error, stress concentrations near the boundaries, and computational complexity. the results indicate that the proposed methods can be used for design and mechanical analysis of composite materials. Moreover, in homogenization applications the structured warped mesh is compatib

关键词： Composite materials

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AN OPTIMAL WAVING DEVICE UTILIZED IN MICRO SWIMMER/PUMP: ANALYTICAL, NUMERICAL AND EXPERIMENTAL analysis

AN OPTIMAL WAVING DEVICE UTILIZED IN MICRO SWIMMER/PUMP: ANA...

引用

11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Setter, Eyal Bucher, Izhak Technion Israel Inst Technol Haifa Israel

ISBN: (纸本)9780791844847

this paper describes a unique non-vibratory traveling wave generator, which performs as a propulsion mechanism or pump in low Reynolds number (Re) environments, i.e. in highly viscous fluids or in micro scales. In low Re numbers the dynamics of a moving body is governed mainly by fluid drag effects, therefore mobility must rely on non-inertial, non-time reversible trajectories, e.g., traveling waves. the proposed device generates axisymmetric transverse traveling waves along an elastic cylindrical shell. the waving surface induces a vorticity and pressure fields in the adjacent fluid, which result in propagation of the swimmer opposite to the wave direction, or alternatively, in pumping fluid in the wave propagation direction. the dynamics of the mechanical multi-cam device ensures, assuming negligible friction, zero actuation shaft torque, while for non-negligible friction it is demonstrated that torque oscillations are dramatically decreased, yielding a small non-zero mean torque. these properties are achieved by choosing a specific angular phase between successive cams, so that the ratio of the number of wavelengths times a harmonic index, over the number of cams is non-integer. the effects of wave discretization on the tempo-spatial frequency content of the cylindrical envelope are also studied. the analytical analysis is accompanied by numerical examples, and demonstrated with an experimental working prototype.

关键词： Traveling waves Mechanism Dynamics Micro swimmer Micro pump Low Reynolds number Wave Discretization

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SETUP OF VIRTUAL EXPERIMENTS AND CRITICAL analysis OF CONVENTIONAL thERMOECONOMIC DIAGNOSIS OF MULTIPLE FAULTS IN AIR-CONDENSED ROOFTOP systems

SETUP OF VIRTUAL EXPERIMENTS AND CRITICAL ANALYSIS OF CONVEN...

引用

11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Piacentino, Antonio Talamo, Miriam Univ Palermo I-90128 Palermo Italy

ISBN: (纸本)9780791844854

the diagnosis of soft faults in vapor compression cooling systems is a crucial activity, since malfunctions may provoke heavy degradation in plant performance and increase the power consumption for space cooling. Among the various Faults Detection and Diagnosis techniques developed over the last two decades, thermoeconomic diagnosis has been playing only a marginal role due to the difficulties encountered when applying the conventional thermoeconomic approaches to vapor compression refrigeration plants. In this paper a critical analysis on capabilities and limits of thermoeconomic diagnosis of refrigeration systems is proposed. the reference plant assumed for this study is a 116 kW c air-condensed rooftop systems charged with R407C as refrigerant. A reliable 1-D steady-state simulator is used to calculate thermodynamic and performance data in "off-design" operating conditions;since the simulator has no specific capabilities to simulate faulty systems, literature-derived results were used to adjust the input settings for each specific fault simulated. Among the most common faults in rooftop air conditioners, four different malfunctions are examined: fouling at condenser, fouling at evaporator, refrigerant undercharge (either due to leakage or erroneous charging during service) and extra-superheating along the suction line;the faults are imposed both individually and simultaneously. the thermoeconomic diagnosis is performed basing on the "fuel impact" approach;the need to split physical exergy into its thermal and mechanical fractions and the presence of dissipative components suggested us to formulate some methodological premises, discussed in detail in the paper. the results testify that the adopted conventional approach is not very reliable;although some faults are properly identified, in fact, false fault signals and erroneous causalization eventually resulted, due to the presence of system-level faults (i.e. faults not strictly associated with any specific plant

关键词： thermoeconomic diagnosis refrigeration multiple faults virtual experiment

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design OF A SPATIAL AID FOR COMMUNICATION IN ROBOTIC SURGERY

DESIGN OF A SPATIAL AID FOR COMMUNICATION IN ROBOTIC SURGERY

引用

11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Cunningham, Stacey Chellali, Amine Banez, Jose Cao, Caroline G. L. Tufts Univ Medford MA 02155 USA

ISBN: (纸本)9780791844854

Robots are increasingly being incorporated into the clinical environment. In minimally invasive surgery, robots are used to hold the tools and camera at the operating table while the surgeon performs surgery at a console away from the rest of the surgical team, reducing the opportunity for face-to-face communication. As surgery is a team-oriented process in which surgeons, nurses, and anesthesiologists collaborate to achieve the common goal of delivering care to a patient, any barrier to communication can inhibit the team process required in surgery. this study examined surgeon-nurse spatial communication in a collaborative surgical task in a controlled experiment. It was hypothesized that providing a spatial communication aid would improve performance time and reduce the amount of communication needed for the task. Fifteen dyads of surgeons or novices completed a simulated organ manipulation task using a laparoscopic trainer box in two viewing conditions: aligned (0 degrees) and rotated (90 degrees) camera view. Subjects were divided into 3 experimental groups: control, cardinal directional aid, and grid directional aid. Results show that experts were faster than novices, and the directional aids significantly facilitated task performance. While the volume of communication was not different across the three groups, there was a shift toward a more collaborative style of communication in the cardinal directions and grid conditions. the findings suggest that spatial communication aids can improve performance and promote collaboration in the robotic operating room.

关键词： Robotic surgery

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design for Manufacture using Functional analysis and CAD Mould simulation for Rapid Prototyping and Rapid Tooling

Design for Manufacture using Functional Analysis and CAD Mou...

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11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Lupeanu, Mihaela E. Brooks, Hadley Rennie, Allan E. W. Celik, H. Kursat Neagu, Corneliu Akinci, Ibrahim Univ Lancaster Dept Engn Lancaster Prod Dev Unit Lancaster England

ISBN: (纸本)9780791844878

the pressure of time, quality and cost, together with increasing product variety, more customised products and worldwide competition is driving technology development and implementation in the area of Rapid Manufacturing (RM). Traditionally, the manufacture of tooling for both prototype parts and production components represents one of the longest and most costly phases in the development of most new products. the cost and time implications of the tooling process are particularly problematic for low-volume products aimed at niche markets, or alternatively for rapidly changing high-volume products. Rapid Prototyping (RP) and Rapid Tooling (RT) have the potential to dramatically shorten the time required to produce functional prototypes or products. Functional analysis (FA) plays a key role in the design process of the actual tools, allowing for innovative solutions that can be achieved with RP and RT. this paper presents a FA methodology to design for manufacture (DFM) based on RP- and RT-specific characteristics, aimed at improving process efficiency, streamline energy consumption, use of volume material, usage of structural innovative lightweight materials, decrease overall costs and improve product quality. design for Rapid Manufacturing (DFRM) allows for geometric freedom, leading to changes of the overall design process, thus enhancing the FA process. FA begins with stating the need, in a DFRM case that translates into diagnosis, the determination of the manufacturability of the present product and comparison with similar products on the market. Setting objectives, in terms of production costs, quality, flexibility, risk, lead-time, efficiency, and environment are other milestones in FA. Actual function definition involves defining the main functions of the product and their interactions. Clarifying the evaluation parameters, setting criteria levels and technical dimensioning is done for each of the main product functions, the conceptual design process then foll

关键词： design for Manufacture Targeted Functional analysis Rapid Manufacturing Rapid Prototyping

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MODEL-BASED design OF MECHATRONIC systems BY MEANS OF SEMANTIC WEB ONTOLOGIES AND REUSABLE SOLUTION ELEMENTS

MODEL-BASED DESIGN OF MECHATRONIC SYSTEMS BY MEANS OF SEMANT...

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11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Oestersoetebier, Felix Just, Viktor Traechtler, Ansgar Bauer, Frank Dziwok, Stefan Univ Paderborn Heinz Nixdorf Inst D-33098 Paderborn North Rhine Wes Germany

ISBN: (纸本)9780791844861

When designing complex mechatronic systems, a team of developers will be facing many challenges that can impede progress and innovation if not tackled properly. In meeting them simulation tools play a central role. Yet it is often impossible for a single developer to foresee the overall impact a design decision will have on the system and on the other domains involved. For this task multi-domain simulation tools exists, but because of its complexity and the different levels of detail that are needed, the effort to specify a complete system from scratch is very high. Another challenge is the selection of the most suitable solution elements provided by the manufacturers. Currently they are often chosen manually from catalogues. the development engineer is therefore usually inclined to employ well-known solution elements and suppliers. To tackle both challenges our aim is an increase in efficiency and innovation by means of generally available solution knowledge, such as well-proven solution patterns, ready-to-use solution elements, and established simulation models [1]. Our paper presents a tool-supported, sequential design process. From the outset, the comprehensive functional capability of the designed system is supervised by means of multi-domain simulation. At significant points in the design process, solution knowledge can be accessed as it is stored in ontologies and therefore available via Semantic Web [2]. thus, one can overcome barriers resulting from different terminologies or referential systems and furthermore infer further knowledge from the stored knowledge. the paper focuses on an early testing in the conceptual design stage and on the subsequent semantic search for suitable solution elements. After the specification of a principle solution for the mechatronic system by combining solution patterns, an initial multi-domain model of the system is created. this is done on the basis of the active structure and of idealized simulation models which are part o

关键词： Ontology

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thERMODYNAMIC analysis AND PERFORMANCE INVESTIGATION OF AN ALPHA-TYPE STIRLING ENGINE

THERMODYNAMIC ANALYSIS AND PERFORMANCE INVESTIGATION OF AN A...

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11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Rogdakis, E. D. Koronaki, I. P. Antonakos, G. D. Natl Tech Univ Athens Sch Mech Engn Lab Appl Thermodynam Thermal Engn Sect Athens 15780 Greece

ISBN: (纸本)9780791844854

the Stirling engine, as an external combustion engine, can be powered using a variety of heat sources including the continuous combustion process thus achieving significantly reduced emissions. Energy systems powered by a Stirling engines meet the needs of various applications not only in the domestic and industrial sections but in military and space gadgets as well. Stirling engines can also be used as cryocoolers in medical applications where they are called to achieve very low temperatures. Each energy system using Stirling Engine optimizes its performance in specific operating conditions. the system capacity depends on the geometric and structural characteristics, the design of the unit, the environment in which the engine is allowed to it works as well as the size of the load. In order to study the function and the efficiency of Stirling energy. systems a CHP SOLO 161V - ALPHA TYPE STIRLING ENGINE was installed in the Laboratory of Applied thermodynamics of NTUA. A thermodynamic analysis has been conducted using appropriate computing codes. the effect of each independent variable on the system performance was investigated. the study was divided into distinct levels of detail, bringing out each variable. Initially, the performance of the heat engine was examined assuming an ideal regenerator. then, the effectiveness of the regenerator was evaluated as well as its effect on the engine performance, while the effect of the pressure drop and the energy dissipation on the engine efficiency was also investigated. Measurements were conducted using different operational conditions. concerning the heating load of the engine. the effect of the geometrical characteristics of the regenerator on power output and engine performance was examined based on the results of a simulation analysis. Moreover, the power output and the efficiency of the machine in relation to the thermal load of the unit and the average pressure of the working medium were investigated. Major performance

关键词： Sensitivity analysis

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STATIC AND DYNAMIC analysis OF ELECTROSTATICALLY ACTUATED MICROCANTILEVERS USING thE SPECTRAL ELEMENT MEthOD

STATIC AND DYNAMIC ANALYSIS OF ELECTROSTATICALLY ACTUATED MI...

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11th asme biennial conference on engineering systems design and analysis, (ESDA 2012)

作者： Dileesh, P. V. Kulkarni, S. S. Pawaskar, D. N. Indian Inst Technol Dept Mech Engn Bombay 400076 Maharashtra India

ISBN: (纸本)9780791844854

the objective of this paper is to present the Spectral Element Method (SEM) as an accurate and efficient design tool for static and dynamic simulations of cantilever based MEMS devices. the microcantilever under consideration is modeled as a Timoshenko beam and discretized using the spectral element formulation that accounts for fringing field and the nonlinearity arising from the electrostatic driving force. the static analysis has been carried out using Picard's iteration method and the static pull-in displacement and voltage have been calculated. An eigen-value analysis of this beam is also carried out to determine its natural frequencies. In addition, the dynamics of this cantilever is studied using the explicit Newmark predictor-corrector method to generate the time history. In all cases, the results have been compared to the one-dimensional Finite Element Method and three-dimensional finite element method (implemented through the commercial package COMSOL Multiphysics) to examine the accuracy and computational speed of the proposed SEM. the results of the simulations were also compared to those obtained by experiments in the existing scientific literature. these comparisons lead to the inference that the SEM is able to reproduce the static and dynamic response of the beam to a high degree of accuracy. It was also found that several numerical features inherent in the SEM lead to a significantly faster computation than the corresponding finite element method for equivalent degrees of freedom. this advantage was verified by using the SEM to carry out static and dynamic simulations of variable width microcantilevers. We therefore propose that the SEM is a viable tool for the MEMS community to accurately and quickly determine the static and dynamic pull-in parameters;frequency eigenvalues, and static and dynamic behavior at the design stage.

关键词： MEMS Electrostatic actuator Timoshenko beam Spectral element method

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