Investigation of the effects of Stewart platform-type industrial robot on stability of robotic milling

Mobile machining with industrial robots is proposed as a cost-effective and portable manufacturing alternative to large scale CNC machine tools in large-scale part manufacturing. Robotic milling, one of the widely used mobile machining approaches, involves several technical challenges and distinct characteristics in terms of machining dynamics and stability due to completely different structural build up. In this paper, distinctive effects of Stewart platform-type of hexapod robot on stability of robotic milling is investigated based on characterisation of its structural dynamics, simulation of stability limits and experimental validation. Three aspects are demonstrated: (1) the position-dependent stability diagrams due to the position-dependent dynamics of the hexapod platform, (2) the effects of cross transfer function due to the complex kinematic chain on milling stability and (3) the role of feed rate direction in stability of robotic milling. The conditions for minimised position-dependent stability through appropriate tooling are also illustrated through simulations and experimental verification. The cases where process stability may be governed by either the hexapod robot or the cutting tool modes are discussed and identified through stability analysis. It is shown that the feed rate direction becomes a significant parameter for stability limits in robotic milling. The conditions at which the cross transfer function becomes significant on milling stability are discussed through simulations and experimental results. It is shown that cross transfer functions may significantly affect milling stability especially when the radial depth of cut is less than 50 % of the tool diameter. As one of the important outcomes of this research, it is found that appropriate tooling may decrease the reliance of milling stability on robot position

A Testpart for Interdisciplinary Analyses in Micro Production Engineering

AbstractIn 2011, a round robin test was initiated within the group of CIRP Research Affiliates. The aim was to establish a platform for linking interdisciplinary research in order to share the expertise and experiences of participants all over the world. This paper introduces a testpart which has been designed to allow an analysis of different manufacturing technologies, simulation methods, machinery and metrology as well as process and production planning aspects. Current investigations are presented focusing on the machining and additive processes to produce the geometry, simulation approaches, machine analysis, and a comparison of measuring technologies. Challenges and limitations regarding the manufacturing and evaluation of the testpart features by the applied methods are discussed.Video abstrac

Tool path pattern and feed direction selection in robotic milling for increased chatter-free material removal rate

Robotic milling becomes increasingly relevant to large-scale part manufacturing industries thanks to its cost-effective and portable manufacturing concept compared to large-scale CNC machine tools. Integration of milling processes with industrial robots is proposed to be well aligned with the aims and objective of the recent fourth industrial revolution. However, the industrial robots introduce position-dependent and asymmetrical dynamic flexibility, which may reflect to the tool tip dynamics under several conditions. Under such circumstances, the stability limits become dependent on the machining location and the feed direction. In this respect, selection of machining tool path patterns is crucial for increased chatter-free material removal rates (MRR). This paper proposes an approach to evaluate and select tool path patterns, offered by the existing CAM packages, for increased chatter-free MRR. The machining area is divided into number of machining locations. The optimal feed direction is decided based on the absolute stability at each region considering the asymmetrical and position-dependent tool tip dynamics. Then, the alternative tool path patterns are evaluated and the corresponding optimum feed direction is decided for increased chatter-free material removal. The application of the proposed approach is demonstrated through simulations and representative experiments

Propagación del banano: técnicas tradicionales, nuevas tecnologías e innovaciones.

Se pasa revista a los diferentes tipos de propagación del banano tradicional (fundamentalmente hijos y rizomas o partes del mismo), aún utilizada en plantaciones de tipo familiar y en plantaciones establecidas en gran número de países tropicales dedicadas al consumo local, y a través de cultivo in vitro (cultivo de tejidos), utilizada en las modernas explotaciones de bananos dedicados a la exportación. El trabajo se inicia con una descripción de las características morfológicas y desarrollo de la planta, una breve descripción de las estructuras de propagación a la que siguen luego dos grandes apartados: Propagación tradicional y microprogación. En este último apartado se aborda la propagación por organogénesis, mediante la micropropagación tradicional en medios de cultivos semisólidos y más actual por bioreactores y la propagación por embriogénesis somática. Se discute en profundidad los medios de cultivo e iluminación requeridos durante las diferentes fases de propagación por cultivo in vitro y se finaliza abordando los aspectos de endurecimiento, aclimatación y trasplante al campo de las plantas propagadas por cultivo de tejidos.Made available in DSpace on 2018-10-25T00:59:34Z (GMT). No. of bitstreams: 1 Propagaciondebanano.pdf: 996976 bytes, checksum: 5d01cd86550772486af13dca5b786dcb (MD5) Previous issue date: 2018-10-24bitstream/item/185018/1/Propagacion-de-banano.pd

Safety and efficacy of non-steroidal anti-inflammatory drugs to reduce ileus after colorectal surgery

Background: Ileus is common after elective colorectal surgery, and is associated with increased adverse events and prolonged hospital stay. The aim was to assess the role of non-steroidal anti-inflammatory drugs (NSAIDs) for reducing ileus after surgery. Methods: A prospective multicentre cohort study was delivered by an international, student- and trainee-led collaborative group. Adult patients undergoing elective colorectal resection between January and April 2018 were included. The primary outcome was time to gastrointestinal recovery, measured using a composite measure of bowel function and tolerance to oral intake. The impact of NSAIDs was explored using Cox regression analyses, including the results of a centre-specific survey of compliance to enhanced recovery principles. Secondary safety outcomes included anastomotic leak rate and acute kidney injury. Results: A total of 4164 patients were included, with a median age of 68 (i.q.r. 57\u201375) years (54\ub79 per cent men). Some 1153 (27\ub77 per cent) received NSAIDs on postoperative days 1\u20133, of whom 1061 (92\ub70 per cent) received non-selective cyclo-oxygenase inhibitors. After adjustment for baseline differences, the mean time to gastrointestinal recovery did not differ significantly between patients who received NSAIDs and those who did not (4\ub76 versus 4\ub78 days; hazard ratio 1\ub704, 95 per cent c.i. 0\ub796 to 1\ub712; P = 0\ub7360). There were no significant differences in anastomotic leak rate (5\ub74 versus 4\ub76 per cent; P = 0\ub7349) or acute kidney injury (14\ub73 versus 13\ub78 per cent; P = 0\ub7666) between the groups. Significantly fewer patients receiving NSAIDs required strong opioid analgesia (35\ub73 versus 56\ub77 per cent; P < 0\ub7001). Conclusion: NSAIDs did not reduce the time for gastrointestinal recovery after colorectal surgery, but they were safe and associated with reduced postoperative opioid requirement

Safety of hospital discharge before return of bowel function after elective colorectal surgery

© 2020 BJS Society Ltd Published by John Wiley & Sons LtdBackground: Ileus is common after colorectal surgery and is associated with an increased risk of postoperative complications. Identifying features of normal bowel recovery and the appropriateness for hospital discharge is challenging. This study explored the safety of hospital discharge before the return of bowel function. Methods: A prospective, multicentre cohort study was undertaken across an international collaborative network. Adult patients undergoing elective colorectal resection between January and April 2018 were included. The main outcome of interest was readmission to hospital within 30 days of surgery. The impact of discharge timing according to the return of bowel function was explored using multivariable regression analysis. Other outcomes were postoperative complications within 30 days of surgery, measured using the Clavien–Dindo classification system. Results: A total of 3288 patients were included in the analysis, of whom 301 (9·2 per cent) were discharged before the return of bowel function. The median duration of hospital stay for patients discharged before and after return of bowel function was 5 (i.q.r. 4–7) and 7 (6–8) days respectively (P < 0·001). There were no significant differences in rates of readmission between these groups (6·6 versus 8·0 per cent; P = 0·499), and this remained the case after multivariable adjustment for baseline differences (odds ratio 0·90, 95 per cent c.i. 0·55 to 1·46; P = 0·659). Rates of postoperative complications were also similar in those discharged before versus after return of bowel function (minor: 34·7 versus 39·5 per cent; major 3·3 versus 3·4 per cent; P = 0·110). Conclusion: Discharge before return of bowel function after elective colorectal surgery appears to be safe in appropriately selected patients

Safety of hospital discharge before return of bowel function after elective colorectal surgery

Background: Ileus is common after colorectal surgery and is associated with an increased risk of postoperative complications. Identifying features of normal bowel recovery and the appropriateness for hospital discharge is challenging. This study explored the safety of hospital discharge before the return of bowel function. Methods: A prospective, multicentre cohort study was undertaken across an international collaborative network. Adult patients undergoing elective colorectal resection between January and April 2018 were included. The main outcome of interest was readmission to hospital within 30 days of surgery. The impact of discharge timing according to the return of bowel function was explored using multivariable regression analysis. Other outcomes were postoperative complications within 30 days of surgery, measured using the Clavien\u2013Dindo classification system. Results: A total of 3288 patients were included in the analysis, of whom 301 (9\ub72 per cent) were discharged before the return of bowel function. The median duration of hospital stay for patients discharged before and after return of bowel function was 5 (i.q.r. 4\u20137) and 7 (6\u20138) days respectively (P &lt; 0\ub7001). There were no significant differences in rates of readmission between these groups (6\ub76 versus 8\ub70 per cent; P = 0\ub7499), and this remained the case after multivariable adjustment for baseline differences (odds ratio 0\ub790, 95 per cent c.i. 0\ub755 to 1\ub746; P = 0\ub7659). Rates of postoperative complications were also similar in those discharged before versus after return of bowel function (minor: 34\ub77 versus 39\ub75 per cent; major 3\ub73 versus 3\ub74 per cent; P = 0\ub7110). Conclusion: Discharge before return of bowel function after elective colorectal surgery appears to be safe in appropriately selected patients