Proposal of a new simplified coulomb friction model applied to electrohydraulic servomechanisms

The design of electro-hydraulic servomechanisms characterized by high precision requirements generally needs adequate knowledge of its characteristics, and, in particular, of nonlinear phenomena. Among these, Coulomb's frictional forces acting on the mechanical elements in relative motion are critical to guarantee an implementation capable of respecting the accuracy requirements. The correct evaluation of this phenomenon allows understanding the behaviour of the physical system considered, to estimate its performance by implementing it in a simulation environment, and to design new devices taking into account the relative constraints. Accurate modelling and simulation of the considered system generally imply the use of high order dynamic models (typically, of second-order nonlinear or higher). However, under certain conditions, it is possible (and advisable) to simplify the mathematical structure of the numerical model, degrading it to a simple first-order, reducing its complexity and computational cost and, nevertheless, still obtaining results comparable with higher-order models. In this paper, the authors propose a new computational model capable of being implemented within these degraded numerical models, allowing them to simulate the main effects due to dry frictions (Coulomb's model). This first-order dynamic model is compared with the corresponding second-order ones to evaluate their performances in different scenarios

Influence of feed drives on the structural dynamics of large-scale machine tools

Milling is one of the most widely used processes in the manufacturing industry and demands machines with high productivity rates. In large machine tool applications, the cutting capability is mainly limited by the appearance of structural chatter vibrations. Chatter arises from the dynamic interaction of the machining system compliance with the cutting process. For the specific case of large-scale machine tools, the low frequency resonances have modal shapes that generate relative displacements in the machine joints. This thesis presents new approaches to minimize the appearance of chatter vibrations by targeting and understanding the machine tool compliance, in particular, from the feed drive of the machine tool. A detailed model of the double pinion and rack feed drive system and the master-slave coupling improves the large machine tools modeling. As the vibrations are measured by the axes feedback sensors, a new strategy for feed drive controller tuning allows increasing the chatter stability using a judicious selection of the servo parameters. Then, in-motion dynamic characterizations demonstrate the important influence of the nonlinear friction on the machine compliance and improve the chatter stability predictions. Finally, an operational method for characterizing both tool and workpiece side dynamics while performing a cutting operation is developed. All the contributions of the thesis have been validated experimentally and tend to consider the influence of the feed drives on the structural dynamics of large-scale machine tools

Tribometer set-up and friction coefficient in elastomers of sealing systems

El objetivo de esta tesis es, realizar la puesta a punto de un tribómetro disponible en el Departamento de Ingeniería Mecánica y Aeroespacial (DIMEAS), laboratorio del Politécnico de Torino. El tribómetro se encontró con un actuador neumático-hidráulico. Con esta configuración, con el fin de realizar la adquisición de datos, se buscaron los sensores compatibles para cada tarea, luego fueron reparados y cada uno se calibró. El tribómetro es capaz de adquirir la velocidad de deslizamiento (mm/s), la posición (mm), las fuerzas tangenciales y normal (N). Fue desarrollado un programa en Labview capaz de adquirir y guardar las respectivas señales de la forma adecuada. De la misma manera, un script en Matlab fue desarrollado para calcular el coeficiente de fricción. El modelo utilizado para calcular el coeficiente de fricción fue el más simple, pero fiable, desarrollado por Coulomb, en el que sólo toma en cuenta la fuerza normal y la fuerza tangencial. Por último, se realizaron algunas pruebas con el fin de verificar el comportamiento del tribómetro.The objective of this thesis is to, perform the setup of a tribometer available at the Department of Mechanical and Aerospace Engineering (DIMEAS), laboratory of the Polytechnic University of Turin. The tribometer was found with a pneumohydraulic actuator. With this configuration, in order to perform the data acquisition, the compatible sensors for each task were searched, then they were repaired and each one was calibrated. The tribometer is capable to acquire the sliding velocity (mm/s), position (mm), tangential and normal forces (N). A program in Labview capable to acquire and save the respective signals in the adequate way was developed. In the same way, a Matlab script was developed to calculate the friction coefficient. The model used to calculate friction coefficient was the simplest but reliable one, developed by Coulomb, in which only takes in to account the normal force and the tangential force. Finally, were done some tests in order to verify the behavior of the tribometer.Ingeniero (a) ElectrónicoPregrad

Design of a mechatronic measurement system for surface fatigue of dental composites

PhD ThesisThis thesis focuses on the design and development of a rolling-ball mechatronic system for on-line testing and measurement of surface contact fatigue of dental composites, and is based on a technique initially developed at the Newcastle Dental School. The mechatronic system synergistically combines the mechanical/electronic hardware with a low-cost embedded digital signal controller (DSC microcontroller) hardware and software to monitor and measure in real-time surface wear due to contact fatigue. ISO/TS 14569-2.2001 standard specification for testing of dental materials was used for selecting appropriate test variables. The mechatronic system attempts to simulate the human oral environment with temperature and moisture being controlled. A closed-loop PI control algorithm combining both optical encoder pulse timing and counting methods is used to drive a dc brushless motor at speeds of 240 and 2040 rpm. A small (2mm diameter) ruby ball is mounted in a V-grooved mandrel which over time creates a circular orbital wear path in the dental composite material. One algorithm has been designed to acquire and process the on-line measurement of wear using a linear voltage differential transformer (LVDT), with another monitoring the fatigue cycling process. A graphical user interface (GUI) has also been designed and implemented on a laptop which is connected to the rig embedded controller. A kinematic model of the rolling ball constrained in a V-groove has been developed along with a finite element analysis of the surface deformation. This has been augmented by a comprehensive test programme, in dry, moisturized and elevated temperature (i.e. 37°C), using Synergy D6 specimens. Using ANOVA test, 70% reproducibility of fatigue track measurements was attained. A comparison of LVDT transducer and profilometer measurements indicated 5% consistence with each other. The insight gained from the testing programme sets a basis for an extensive programme to qualify and validate the measurement system basing on ISO/TS 14569-2.2001 specifications.The Tanzania Government: The University of Dar es Salaam

The design and control of an actively restrained passive mechatronic system for safety-critical applications

Development of manipulators that interact closely with humans has been a focus of research in fields such as robot-assisted surgery and haptic interfaces for many years. Recent introduction of powered surgical-assistant devices into the operating theatre has meant that robot manipulators have been required to interact with both patients and surgeons. Most of these manipulators are modified industrial robots. However, the use of high-powered mechanisms in the operating theatre could compromise safety of the patient, surgeon, and operating room staff. As a solution to the safety problem, the use of actively restrained passive arms has been proposed. Clutches or brakes at each joint are used to restrict the motion of the end-effector to restrain it to a pre-defined region or path. However, these devices have only had limited success in following pre-defined paths under human guidance. In this research, three major limitations of existing passive devices actively restrained are addressed. [Continues.

Volume 3 – Conference

We are pleased to present the conference proceedings for the 12th edition of the International Fluid Power Conference (IFK). The IFK is one of the world’s most significant scientific conferences on fluid power control technology and systems. It offers a common platform for the presentation and discussion of trends and innovations to manufacturers, users and scientists. The Chair of Fluid-Mechatronic Systems at the TU Dresden is organizing and hosting the IFK for the sixth time. Supporting hosts are the Fluid Power Association of the German Engineering Federation (VDMA), Dresdner Verein zur Förderung der Fluidtechnik e. V. (DVF) and GWT-TUD GmbH. The organization and the conference location alternates every two years between the Chair of Fluid-Mechatronic Systems in Dresden and the Institute for Fluid Power Drives and Systems in Aachen. The symposium on the first day is dedicated to presentations focused on methodology and fundamental research. The two following conference days offer a wide variety of application and technology orientated papers about the latest state of the art in fluid power. It is this combination that makes the IFK a unique and excellent forum for the exchange of academic research and industrial application experience. A simultaneously ongoing exhibition offers the possibility to get product information and to have individual talks with manufacturers. The theme of the 12th IFK is “Fluid Power – Future Technology”, covering topics that enable the development of 5G-ready, cost-efficient and demand-driven structures, as well as individual decentralized drives. Another topic is the real-time data exchange that allows the application of numerous predictive maintenance strategies, which will significantly increase the availability of fluid power systems and their elements and ensure their improved lifetime performance. We create an atmosphere for casual exchange by offering a vast frame and cultural program. This includes a get-together, a conference banquet, laboratory festivities and some physical activities such as jogging in Dresden’s old town.:Group 8: Pneumatics Group 9 | 11: Mobile applications Group 10: Special domains Group 12: Novel system architectures Group 13 | 15: Actuators & sensors Group 14: Safety & reliabilit

Modeling and control of a pneumatic muscle actuator

This thesis presents the theoretical and experimental study of pneumatic servo position control systems based on pneumatic muscle actuators (PMAs). Pneumatic muscle is a novel type of actuator which has been developed to address the control and compliance issues of conventional cylindrical actuators. Compared to industrial pneumatic cylinders, muscle actuators have many ideal properties for robotic applications providing an interesting alternative for many advanced applications. However, the disadvantage is that muscle actuators are highly nonlinear making accurate control a real challenge. Traditionally, servo-pneumatic systems use relatively expensive servo or proportional valve for controlling the mass flow rate of the actuator. This has inspired the research of using on/off valves instead of servo valves providing a low-cost option for servo-pneumatic systems. A pulse width modulation (PWM) technique, where the mass flow is provided in discrete packets of air, enables the use of similar control approaches as with servo valves. Although, the on/off valve based servo-pneumatics has shown its potential, it still lacks of analytical methods for control design and system analysis. In addition, the literature still lacks of studies where the performance characteristics of on/off valve controlled pneumatic systems are clearly compared with servo valve approaches. The focus of this thesis has been on modeling and control of the pneumatic muscle actuator with PWM on/off valves. First, the modeling of pneumatic muscle actuator system controlled by a single on/off valve is presented. The majority of the effort focused on the modeling of muscle actuator nonlinear force characteristics and valve mass flow rate modeling. A novel force model was developed and valve flow model for both simulation and control design were identified and presented. The derived system models (linear and nonlinear), were used for both control design and utilized also in simulation based system analysis. Due to highly nonlinear characteristics and uncertainties of the system, a sliding mode control (SMC) was chosen for a control law. SMC strategy has been proven to be an efficient and robust control strategy for highly nonlinear pneumatic actuator applications. Different variations of sliding mode control, SMC with linear model (SMCL) and nonlinear model (SMCNL) as well as SMC with integral sliding surface (SMCI) were compared with a traditional proportional plus velocity plus acceleration control with feed-forward (PVA+FF) compensation. Also, the effects of PWM frequency on the system performance were studied. Different valve configurations, single 3/2, dual 2/2, and servo valve, for controlling a single muscle actuator system were studied. System models for each case were formulated in a manner to have a direct comparison of the configuration and enabling the use of same sliding mode control design. The analysis of performance included the sinusoidal tracking precision and robustness to parameter variations and external disturbances. In a similar manner, a comparison of muscle actuators in an opposing pair configuration controlled by four 2/2 valves and servo valve was executed. Finally, a comparison of a position servo realized with pneumatic muscle actuators to the one realized with traditional cylinder was presented. In these cases, servo valve with SMC and SMCI were used to control the systems. The analysis of performance included steady-state error in point-to-point positioning, the RMSE of sinusoidal tracking precision, and robustness to parameter variations