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Journal PROCEEDINGS IN MANUFACTURING SYSTEMS |
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ISSN 2343–7472 ISSN-L 2067–9238 |
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Journal PROCEEDINGS IN MANUFACTURING SYSTEMS
□ Volume 9, Issue 3, 2014
· Aurel FRATU, Bernard RIERA, Valeriu VRABIE,
Predictive strategy for robot behavioral control, 125
Incremental forming
- an alternative to traditional manufacturing methods,
131
·
Petrică CORĂBIERU, Ștefan
VELICU, Anişoara CORĂBIERU, Dan Dragoș VASILESCU,
Preliminary experiments on processing technology combined liquid and
solid phase, 137
·
Rainer MÜLLER, Matthias VETTE,
Martin BURKHARD,
Development of a tolerance concept for the optimization of a worm
gear, 143
·
Malika LAZREG, Abed MEGHDDIR,
Karima KIES,
·
Quentin COSSON-COCHE, Olivier CAHUC, Philippe DARNIS, Raynald
LAHEURTE,
Denis TEISSANDIER, Didier CHABIRAND,
Cutting flexible sheet materials using a vibrating blade –
design of an intelligent control system for cutting machines, 157
·
Wadii YOUSFI, Raynald LAHEURTE,
Madalina CALAMAZ, Philippe DARNIS, Olivier CAHUC,
3D kinematic fields studies in milling, 163
·
Monika MOGA, Gavrilă CALEFARIU,
Flavius Aurelian SÂRBU,
Statistical analysis of R & D costs at regional level in Romania
(2009)
and its correlation with GDP and GVA, 169
·
Dan PRODAN, George CONSTANTIN,
Anca BUCUREȘTEANU, Emilia BĂLAN,
Fabrication and refabrication of heavy duty machine tools, 175
PREDICTIVE
STRATEGY
FOR ROBOT
BEHAVIORAL
CONTROL
Aurel FRATU1,*, Bernard RIERA2,
Valeriu VRABIE3
1)
Prof., PhD, Dept. of Automatics and Technology of Information, “Transilvania”
University of Brasov, Brasov, Romania
2) Prof., PhD,
CReSTIC Center,
University of
Reims Champagne-Ardenne,
Reims, France
3)
Assoc. Prof., PhD,
CReSTIC Center,
University of
Reims Champagne-Ardenne, Reims, France
Abstract:
In this paper, based
on original idea, the authors propose a new strategy for physical
robot behavioral control using
predictive control strategy. To program
the desired motion sequence for the physical robot, one captures the motion
reference paths from the virtual robot model and maps these to the joint
settings of the physical robot. Physical robot reproduces the
behavior of the virtual prototype. This requires transfer of a dynamical
signature of a movement of the virtual robot to the physical robot, i.e. the
robots should be able to imitate a particular path as one with a specific
velocity and/or an acceleration profile. Furthermore, the virtual robot must
cover all possible contexts in which the physical robot will need to
generate similar motions in unseen context. The physical robot acts fully
independently, communicating with corresponding virtual prototype and
imitating its behavior..
Key
words: virtual robots, path learning by imitation,
motion programming,
predictive control, behavioral
control
INCREMENTAL FORMING – AN ALTERNATIVE TO TRADITIONAL MANUFACTURING METHODS Octavian BOLOGA1,* 1)
Prof., Machines and Equipment Department, Lucian Blaga University of Sibiu,
Romania
Abstract: New manufacturing technologies are developed fast in order to keep up with the market demands, both in the field of metal cutting and metal forming. The Asymmetric single point incremental forming (ASPIF) is a manufacturing technology with a high degree of novelty, which allows the user to manufacture complex parts by metal forming, using only a punch and an active plate without the need of using dies. Even if there are a significant number of research results reported in the literature, which demonstrated the advantages of the ASPIF, the industry has not been very enthusiastic to adopt and implement it on large scale. There are still some drawbacks which prevent the implementation of ASPIF at industry level, such as low accuracy of the parts and sheet metal integrity. The paper presents some approaches of implementing this process using as technological equipment either CNC milling machines or serial industrial robots. Both simulation and experimental data are presented. The influence of the processing toolpaths upon the accuracy of the parts, upon the strains and the thickness reduction has been shown. The authors also proposed a set of computer assisted techniques which can be used in order to make the ASPIF process more efficient and industry-friendly. Key words: CNC milling machine, industrial robot, incremental forming, CAD, CAM, CAE.
Preliminary experiments on processing technology combined liquid and solid
phase
Petrică
CORĂBIERU1, Ștefan VELICU,2,
Anişoara CORĂBIERU3, Dan
Dragoș VASILESCU1 1)
Scientific Researcher II, SC Procomimpex of Iasi, Romania
2)
Prof., PhD, Polytechnic University of Bucharest, Romania 3)
Lecturer., PhD, Technical University "Gheorghe Asachi" of Iasi, Romania
Abstract:
The combined
processing technology used to manufacture the parts of the surface layer
hardened steel. The novelty technology lies in the fact that the hardening
of the surface layers is carried out both in liquid phase and in the solid
state. Technology comprises three main stages with 12 technological phases
encompassing 12 technological operations and 17 operations control, analysis
and compliance. Key words: combined processing, micro-alloying, surface hardening, induction treatment.
Development of a tolerance concept for the optimization of a worm gear Rainer MÜLLER1,
Matthias VETTE2, Martin BURKHARD3 1)
Prof. Dr.-Ing., chief executive officer, assembly technology, ZeMA,
Saarbrücken, Germany 2)
Dipl.-Wirt.-Ing. (FH), M.Eng., chief engineer, assembly technology, ZeMA,
Saarbrücken, Germany 3*)
B.Eng., research assistant, assembly technology, ZeMA, Saarbrücken, Germany
Abstract:
In mounting, the assembly of parts or
groups to products or to groups of higher levels takes place in the
production. It usually forms the end of the operational value chain. Thus,
the assembly occupies a key position regarding the realization of the
characteristics of the products or modules, because in this case it
represents the last opportunity to influence the features and their
qualitative variety. When functional products or modules are mounted, the
achievement of the intended function in the desired quality is a major
priority. It depends essentially
on the assembly processes. The convenient setting of the assembly process
can be found by considering and weighing it from different perspectives.
This work discusses the problems of
tolerance and places them in the foreground. The tolerances of the
components of the product, the tolerances of the arrangement of the
components to each other and the tolerances, measurements, and adjustments
involved in the process of assembly are taken into account. The aim is to
create optimization strategies based on the analysis of influencing factors
of the component tolerances and the assembly process. Key words: tolerance, key characteristics, tolerance chain, assembly.
IMPLEMENTATION OF A FUZZY CONTROLLER FOR THE
Malika LAZREG1,*, Abed
MEGHDDIR2, Karima KIES3
1)
PhD Student,
Institute of Maintenance and industrial security,
University of Oran Es-senia, Algeria
2)
PhD Student,
Institute of Maintenance and industrial security,
University of Oran Es-senia, Algeria
3)
Doctor,
Faculty of Mathematics and Computer, U.S.T O. Mohamed
BOUDIAF, Oran, Algeria
Abstract:
This article discusses the navigation of a mobile robot in different
environments. The aim is to develop a comprehensive method for controlling a
robot to reach a target while avoiding unexpected obstacles using the least
possible means in terms of sensors and computing power. The approach
developed is based on the fuzzy logic method that calculates the required
parameters automatically. In our case, we choose to work on universes of
discourse normalized, partitioned into five classes (in fuzzy sets) for
inputs and outputs. The location and the displacement of the robot from an
initial position to any desired destination, while respecting its kinematic
constraints, are implemented in real time by using the data of the
incremental sensors. A controller based on the fuzzy logic, sends speed
commands and steering to the robot to ensure its convergence to the target
while avoiding obstacles in its path.
Key words: Mobile robot, navigation, obstacles avoidance, fuzzy logic.
CUTTING FLEXIBLE SHEET MATERIALS USING A VIBRATING BLADE – DESIGN OF AN
INTELLIGENT CONTROL SYSTEM FOR CUTTING MACHINES
Quentin COSSON-COCHE1,*, Olivier CAHUC2,
Philippe DARNIS3,
Raynald LAHEURTE4, Denis
TEISSANDIER5, Didier CHABIRAND6
1)
PhD Student, University of Bordeaux, I2M UMR 5295, F-33400 Talence, France
2)
Professor, University of Bordeaux, I2M UMR 5295, F-33400 Talence, France
3)
Assistant Professor, University of Bordeaux, I2M UMR 5295, F-33400 Talence,
France
4)
Assistant Professor, University of Bordeaux, I2M UMR 5295, F-33400 Talence,
France
5)
Professor, University of Bordeaux, I2M UMR 5295, F-33400 Talence, France
6) Advanced studies and research manager, LECTRA,
23 Chemin de Marticot, 33610 Cestas, France
Abstract:
The study of cutting
flexible sheet material using a vibrating blade is complex.
Regarding
the
very
large number of cutting materials types and their
physical characteristics, it is important to quantify the influent
parameters on the cutting and to follow their evolution by monitoring during
the process. For example, different parameters affect the cutting quality
such as the forces, torques applied by the material on the cutting blade,
the temperature and wear. For this purpose, various sensors should be
integrated in an experimental cutting machine. All these information should
allow a better understanding of the physical phenomena induced by the
cutting process in order to ensure a quality control and give more autonomy
to the cutting machines. This paper describes the
study of flexible sheet material cutting and the identification of the
influent parameters. An initial test was carried out using analytic modeling
of the behavior of the blade and the forces involved, and this highlighted
the need to attach a control system to the cutting process in order to
measure the parameters that were influencing it. A method to monitor the
different parameters is explained such as the design of a piezoelectric,
six-axis, hollow force/torque sensor with strong geometrical restrictions.
Key words: cutting; blade; force/torque sensors; piezoelectric sensor.
3D KINEMATIC FIELDS STUDIES IN MILLING
Wadii YOUSFI1,*, Raynald LAHEURTE1,
Madalina CALAMAZ2, Philippe DARNIS1,
Olivier CAHUC1 1)
Université de Bordeaux, I2M, UMR 5295, F-33400 Talence, France. 2) Arts et Métiers Paris Tech, I2M, UMR 5295, F-33400 Talence, France.
Abstract:
Comparing with
other
processes, milling and drilling
have additional
complexities arising from
variation of the instantaneous
geometric variables
in machining and
kinematic during
operation [1,2]. In this study, the instantaneous
variations of the kinematic and geometric cutting
parameters are determined for
a case of end milling with
a milling tool with
cutting inserts. The exact position of the insert in the space is determined
according to the orientation’s angles of the milling insert κr
, γ0
and
λs
respectively
the lead angle, rake angle and cutting edge inclination angle. For each
inserts position, the kinematic torsor is determined for two representative
points of the cutting edge. The first point is on the radius of the tool and
the second is on the linear part of the cutting edge and depends on the
depth of cut.
The
variation
of the linear velocity
due to
the
rotation
of the tool and
the feed rate, affects
the cutting and the clearance angles
and
the
instantaneous cutting
velocity
Vc,orth
. The
instantaneous
feed
is also determined
by
a numerical method starting
from a
geometric
representation
of
the
area
scanned
by the tool. The kinematic study is closed by a
sensitivity study of instantaneous variation of cutting velocity in terms of
depth of cut ap and feed per tooth fz. Key words: Milling, kinematic torsor, instantaneous cutting speed, instantaneous advance, sensitivity.
STATISTICAL ANALYSIS OF R & D COSTS AT REGIONAL LEVEL IN ROMANIA (2009) AND ITS CORRELATION WITH GDP AND GVA
Monika MOGA1,*, Gavrilă CALEFARIU2,
Flavius Aurelian SÂRBU3
1)
PhD Student, Transilvania University, Faculty of Technological
Engineering and Industrial Management, Brașov, Romania
2)
Prof., PhD, Transilvania University, Faculty of Technological Engineering
and Industrial Management, Brașov, Romania
3)
PhD, Eng.,
Transilvania University, Faculty of Technological Engineering and Industrial
Management, Brașov, Romania
Abstract:
Economic development and the success of a company are strongly influenced by
the R&D (research and development), dealing with new technologies,
maintaining and increasing market competitiveness, developing new ways to
exploit. However there is a lack of statistical analyses presenting the
spending for R&D activity at regional level in Romania and also a lack of
comparison of these data whit economic indicators as GDP or GVA. In 2010 the
publication "Investments in research and development: annual ranking of
companies in Romania" led by Romanian Centre for Economic Modeling,
summarizes the research and development spending at regional level,
according to which in 2009 the R & D spending were focused in Bucharest-Ilfov,
the Center Region and South-Muntenia. This ranking is due to companies in
the automotive aftermarket and automotive manufacturing. This paper presents
a statistical analysis and conclusions on research and development spending
from enterprises at regional level in Romania for 2009 in relation with the
Gross Domestic Product (GDP) and Gross Value Added (GVA). The main novelty
of the paper is that beside the statistical analysis it presents as well
correlations with the GDP and the GVA for enterprises with research and
development activity at regional level for 2009.These result can be used in
further studies and researches focusing on R&D activity, spending at
regional level in Romania. In
comparison to these indicators that can be considered as methods of
measurement for development and innovation we present at European, country
and regional level the main indicators used to measure innovation. Key words: research, development, region, GDP, GVA, development and innovation indicators.
FABRICATION AND REFABRICATION OF HEAVY DUTY MACHINE TOOLS
Dan PRODAN1,*,
George CONSTANTIN1,
1)
Prof., PhD, Eng.,
Machines
and Production Systems Department, Politehnica University, Bucharest,
Romania
2)
Assoc. Prof., PhD, Eng.,
Machines and Production Systems Department, Politehnica
University, Bucharest, Romania
Abstract:
During this brief presentation the authors try to present the state of the
art of production of heavy machine tools in Romania. The current trends in
the design and manufacture of these machines are presented. The
opportunities of making modernizations ore refabrication of older machine
tools for transforming them into modern and competitive ones are discussed
in technical and economical terms. The cases in which refabrication is
preferred are presented with their advantages regarding
simplified construction and running in better conditions of vibration, heat
transfer and machining accuracy. The authors highlight some of the
most representative achievements in this area, insisting on a number of
Romania production companies, among which they can mention TITAN HEAVY
MACHINERY, GPM INTERNATIONAL, TEHNOCOSULTINVEST, ANTONELLO, TITAN
AUTOMATION, OPEN SERVICE. Key words: heavy machine tools, fabrication, refabrication, CNC machine tools, machining centres.
Electronic mail: orgcom@icmas.eu
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