Journal 

PROCEEDINGS IN MANUFACTURING SYSTEMS

 

ISSN 2343–7472

ISSN-L 2067–9238

 

 

 

 

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Journal

PROCEEDINGS

IN MANUFACTURING SYSTEMS

 

Volume 9, Issue 3,  2014

 

 

Contents

 

·             Aurel FRATU, Bernard RIERA, Valeriu VRABIE,

               Predictive strategy for robot behavioral control, 125-130

 

·             Octavian BOLOGA,

               Incremental forming - an alternative to traditional manufacturing methods, 131-136

 

·             Petrică CORĂBIERU, Ștefan VELICU, Anişoara CORĂBIERU, Dan Dragoș VASILESCU,

               Preliminary experiments on processing technology combined liquid and solid phase, 137-142

 

·             Rainer MÜLLER, Matthias VETTE, Martin BURKHARD,

               Development of a tolerance concept for the optimization of a worm gear, 143-150

 

·             Malika LAZREG, Abed MEGHDDIR, Karima KIES,

               Implementation of a fuzzy controller for the navigation of a mobile robot in different environments, 151-156

 

·             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, 157-162

 

·             Wadii YOUSFI, Raynald LAHEURTE, Madalina CALAMAZ, Philippe DARNIS, Olivier CAHUC,

               3D kinematic fields studies in milling, 163-168

 

·             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, 169-174

 

·             Dan PRODAN, George CONSTANTIN, Anca BUCUREȘTEANU, Emilia BĂLAN,

               Fabrication and refabrication of heavy duty machine tools, 175-188

 

 

  

pp. 125-130

 

PREDICTIVE STRATEGY FOR ROBOT BEHAVIORAL CONTROL

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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

 

pp. 131-136

INCREMENTAL FORMING – AN ALTERNATIVE TO TRADITIONAL MANUFACTURING METHODS

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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.

 

 

pp. 137-142

Preliminary experiments on processing technology combined liquid and solid phase

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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. Stage I: Micro-alloying directly from the liquid surface, by interaction with the liquid steel layer deposited on the walls of the mold. Successive layers are deposited on the walls of the mold in the form of paste made from 40% PM micro-alloyed metal powders (nickel, chromium, vanadium) and 60% carburizing powder (charcoal, barium carbonate, coke, calcium carbonate, sodium carbonate, binder). Stage II: Thermal treatment by induction of parts coated with hardening mixture AD: 35% metal powder (nickel, chromium, vanadium, molybdenum) and 65% carburizing powder (charcoal, barium carbonate, coke, calcium carbonate, sodium carbonate, binder). Stage III: Final heat treatment by: the chemical composition of the base material; surface layers composition; application and operating conditions of the parts. The paper analyzes the results obtained in stage I (micro-alloying directly from liquid surface). The results obtained in the stage I influence on the quality of the final product.

Key words: combined processing, micro-alloying, surface hardening, induction treatment.

 

 

pp. 143-150

Development of a tolerance concept for the optimization of a worm gear

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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.

 

 

pp. 151-156

IMPLEMENTATION OF A FUZZY CONTROLLER FOR THE NAVIGATION OF A MOBILE ROBOT IN DIFFERENT ENVIRONEMENTS

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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.

 

 

pp. 157-162

CUTTING FLEXIBLE SHEET MATERIALS USING A VIBRATING BLADE – DESIGN OF AN INTELLIGENT CONTROL SYSTEM FOR CUTTING MACHINES

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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.

 

 

pp. 163-168

 

3D KINEMATIC FIELDS STUDIES IN MILLING

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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.

 

 

pp. 169-174

STATISTICAL ANALYSIS OF R & D COSTS AT REGIONAL LEVEL IN ROMANIA (2009) AND ITS CORRELATION WITH GDP AND GVA

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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.

 

 

pp. 175-188

FABRICATION AND REFABRICATION OF HEAVY DUTY MACHINE TOOLS

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Dan PRODAN1,*, George CONSTANTIN1, Anca BUCUREȘTEANU3, Emilia BĂLAN3

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.

 

 

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