On-the-fly laser machining: a case study for in situ balancing of rotative parts

On-the-fly laser machining is defined as a process that aims to generate pockets/patches on target components that are rotated or moved at a constant velocity. Since it is a nonintegrated process (i.e., linear/rotary stage system moving the part is independent of that of the laser), it can be deployed to/into large industrial installations to perform in situ machining, i.e., without the need of disassembly. This allows a high degree of flexibility in its applications (e.g., balancing) and can result in significant cost savings for the user (e.g., no dis(assembly) cost). This paper introduces the concept of on-the-fly laser machining encompassing models for generating user-defined ablated features as well as error budgeting to understand the sources of errors on this highly dynamic process. Additionally, the paper presents laser pulse placement strategies aimed at increasing the surface finish of the targeted component by reducing the area surface roughness that are possible for on-the-fly laser machining. The overall concept was validated by balancing a rotor system through ablation of different pocket shapes by the use of a Yb:YAG pulsed fiber laser. In this respect, first, two different laser pulse placement strategies (square and hexagonal) were introduced in this research and have been validated on Inconel 718 target material; thus, it was concluded that hexagonal pulse placement reduces surface roughness by up to 17% compared to the traditional square laser pulse placement. The concept of on-the-fly laser machining has been validated by ablating two different features (4 × 60 mm and 12 × 4 mm) on a rotative target part at constant speed (100 rpm and 86 rpm) with the scope of being balanced. The mass removal of the ablated features to enable online balancing has been achieved within < 4 mg of the predicted value. Additionally, the error modeling revealed that most of the uncertainties in the dimensions of the feature/pocket originate from the stability of the rotor speed, which led to the conclusion that for the same mass of material to be removed it is advisable to ablate features (pockets) with longer circumferential dimensions, i.e., stretched and shallower pockets rather than compact and deep

The linear inverse problem in energy beam processing with an application to abrasive waterjet machining

The linear inverse problem for energy beam processing, in which a desired etched profile is known and a trajectory of the beam that will create it must be found, is studied in this paper. As an example, abrasive waterjet machining (AWJM) is considered here supported by extensive experimental investigations. The behaviour of this process can be described using a linear model when the angle between the jet and the surface is approximately constant during the process, as occurs for shallow etched profiles. The inverse problem is usually solved by simply controlling dwell time in proportion to the required depth of milling, without considering whether the target surface can actually be etched. To address this, a Fourier analysis Is used to show that high frequency components in the target surface cannot be etched due to the geometry of the jet and the dynamics of the machine. In this paper, this frequency domain analysis is used to improve the choice of the target profile in such a way that it can be etched. The dynamics of the machine also have a large influence on the actual movement of the jet. It is very difficult to describe this effect because the controller of the machine is usually unknown. A simple approximation is used for the choice of the slope of a step profile. The tracking error between the desired trajectory and the real one is reduced and the etched profile is improved. Several experimental tests are presented to show the usefulness of this approach. Finally, the limitations of the linear model are studied

Probabilistic modelling of tool unbalance during cutting of hard-heterogeneous materials: a case study in Ceramic Matrix Composites (CMCs)

Compared to other materials, CMCs display a unique high hardness and heterogeneous nature which are critically reflected during the drilling process where asymmetrical high forces are suffered by the tool, resulting in an unbalance of the drill bit. Hence, this study proposes a mechanistic approach where the hard nature resulting in high radial forces is analytically studied and coupled with a probabilistic model where the heterogeneous nature of CMCs is taken into consideration. This theoretical study results in an in-depth understanding of the loading unbalance occurring on different tool sizes during drilling of CMCs which can lead to a premature tool breakage. The nature of this unique force that is assumed in the theoretical approach to influence the cutting of hard-heterogeneous materials is experimentally validated by drilling a homogeneous and a heterogeneous hard ceramics, i.e. a monolithic SiC and a SiC/SiC CMC. Moreover, the model developed together the with drilling experiments with different tool diameters result in an understanding of why small tool diameters suffer a premature tool breakage when drilling difficult-to-machine CMCs

Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine

The file archived on this repository is a preprint, arXiv:1910.04572v1 [cs.RO], available at: https://doi.org/10.48550/arXiv.1910.04572 (submission history: Mingfeng Wang [v1] Wed, 9 Oct 2019 10:37:12 UTC (1,745 KB)). It has not been certified by peer review. The version of record published by Elsevier is available at https://doi.org/10.1016/j.rcim.2020.102054.In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircraft. However, navigating in/out via inspection ports and performing multi-axis movements with end-effectors in constrained environments (e.g. combustion chamber) is fairly challenging. A novel extra-slender (diameter-to-length ratio < 0.02) dual-stage continuum robot (16 degree-of-freedom) is proposed to navigate in and out confined environments and perform required configuration shapes for repair operations. Firstly, the robot design presents several innovative mechatronic solutions: (i) dual-stage tendon-driven structure with bevelled disks to perform required shapes and to provide selective stiffness for carrying high payloads; (ii) various rigid-compliant combined joints to enable different flexibility and stiffness in each stage; (iii) three commanding cables for each 2-DoF section to minimise the number of actuators with precise actuation. Secondly, a segment-scaled piecewise-constant-curvature-theory based kinematic model and a Kirchhoff-elastic-rod-theory based static model are established by considering the applied forces/moments (friction, actuation, gravity and external load), where the friction coefficient is modelled as a function of bending angle. Finally, experiments were carried out to validate the proposed static modelling and to evaluate the robot capabilities of performing the predefined shape and stiffness

Design and validation of a novel fuzzy-logic-based static feedback controller for tendon-driven continuum robots

10.13039/100013406-Aerospace Technology Institute; 10.13039/501100000266-Engineering and Physical Sciences Research Council

On the topographical/chemical analysis of polycrystalline diamond pulsed laser ablated surfaces

Pulse laser ablation (PLA) is a widely used material removal technique. This paper investigates the effects of various changes of laser parameters on surface integrity and binder composition when PLA (using a Nd: YAG laser) on polycrystalline diamond composites (grain size 2÷25 μm, binder Cobalt). Firstly, 2D/3D surface micro-geometry has been evaluated using contact autofocus profiling. Environmental scanning electron microscopy was carried out to establish surface damages after ablation on different grain size composites. Compositional chemical analyses were performed by Energy-dispersive X-ray spectroscopy, to evaluate the role of binder percentage in the surface integrity after ablation. This showed an increased percentage of Cobalt in particular in the areas of higher energy density/fluence. In particular, as a consequence of a single spot laser ablation, the coarse and fine grain composites proved to have similar reaction to laser ablation in term of remaining Co percentage, while in the ablation of a continuous groove the fine diamond grain specimen showed an higher Co percentage than the coarse specimen (35% versus 20%) proving that the percentage of the Cobalt in the ablated area is proportional to the material percentage before laser ablation

Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry commonly operates based on the generic concept “power by the hour”. However, navigating and performing a multi-axis movement of an end-effector in a very constrained environment such as gas turbine engines is a challenging task. This paper reports on the development of a highly flexible slender (i.e. low diameter-to-length ratios) continuum robot of 25 degrees of freedom capable to uncoil from a drum to provide the feeding motion needed to navigate into crammed environments and then perform, with its last 6 DoF, complex trajectories with a camera equipped machining end-effector for allowing in-situ interventions at a low-pressure compressor of a gas turbine engine. This continuum robot is a compact system and presents a set of innovative mechatronics solutions such as: (i) twin commanding cables to minimise the number of actuators; (ii) twin compliant joints to enable large bending angles (±90°) arranged on a tapered structure (start from 40 mm to 13 mm at its end); (iii) feeding motion provided by a rotating drum for coiling/uncoiling the continuum robot; (iv) machining end-effector equipped with vision system. To be able to achieve the in-situ maintenance tasks, a set of innovative control algorithms to enable the navigation and end-effector path generation have been developed and implemented. Finally, the continuum robot has been tested both for navigation and movement of the end-effector against a specified target within a gas turbine engine mock-up proving that: (i) max. deviations in navigation from the desired path (1000 mm length with bends between 45° and 90°) are ±10 mm; (ii) max. errors in positioning the end-effector against a target situated at the end of navigation path is 1 mm. Thus, this paper presents a compact continuum robot that could be considered as a step forward in providing aero-engine manufacturers with a solution to perform complex tasks in an invasive manner

Erosion mechanisms during abrasive waterjet machining: model microstructures and single particle experiments

The erosion mechanisms during abrasive waterjet (AWJ) machining have been examined for a variety of materials. However, no systematic study has considered the effect of the microstructure–property relationship on the erosion mechanisms in metals. In this work, the influence of microstructure and mechanical properties on the erosion mechanisms is investigated using AWJ controlled-depth milling and single particle impact experiments performed on nanocrystalline, microcrystalline and single crystal nickel samples. The resulting footprints and subsurface microstructure evolution were analysed using advanced characterization techniques. The erosion rate of the target metal is found to correlate positively with grain size and negatively with hardness but this correlation is nonlinear. The subsurface microstructure of the single crystal and microcrystalline are altered, while only the texture of the nanocrystalline nickel is modified. The grain refinement mechanism observed in microcrystalline and single crystal microstructure is elucidated by electron backscatter diffraction. It proceeds by the generation of dislocations under severe plastic deformation, which transforms into subgrains before forming new grains under further strain. Therefore, severe plastic deformation induced by AWJ machining leads to surface nanocrystallization and induces substantial subsurface work-hardening, as revealed by nanoindentation tests and confirmed by single particle impacts, with the consequence that the erosion rate decreases with decreasing grain size. This work clarifies the erosion mechanisms in pure metals and highlights the dynamic nature of AWJ machining as a result of the complex interplay between microstructure, mechanical properties and material removal mechanisms, providing new insights into AWJ controlled-depth milling technique