Contact force modeling and analysis for robotic tilted-disc polishing of freeform workpieces

This paper investigates the tool-workpiece contact mechanism in the disc polishing process, where the soft polishing disc touches the rigid freeform workpiece with a small tilt angle. The developed contact force model can explain how the contact parameters, including the disc contact depth, the disc tilt angle, the radii of curvature of the disc and the workpiece, affect the normal contact force. Under some reasonable geometric and mechanical assumptions of the disc and the workpiece, an approximated contact force equation is derived in a simple power-law form similar to the Hertzian contact model. The contact force is found to be positively related to the disc contact depth and the disc radius, while negatively related to the disc tilt angle and the workpiece normal curvature that is orthogonal to the feed direction. Both finite element simulations and experiments verify the effectiveness of the proposed contact force model. Furthermore, the material removal process is analyzed and a model-based process parameter planning method is developed to achieve uniform material removal considering the variation of workpiece curvatures.     

The effect of synthesis conditions on the physicochemical properties of magnesium aluminate materials

Magnesium aluminate-based materials were prepared by applying different methods: (i) mechanochemical milling of the initial mixture of magnesium and aluminium nitrate powders (in appropriate stoichiometric amounts) followed by heat treatment at temperatures of 650 °C and 850 °C and (ii) melting of the mixture of nitrate precursors at 240 °C followed by thermal treatment at 650 °C, 750 °C and 850 °C. The effect of synthesis method on the structure and morphology of the obtained solids was studied by using various techniques such as: nitrogen adsorption-desorption isotherms, powder XRD, IR spectroscopy and SEM. It was shown that the mechanochemical milling performed before calcination procedure leads to obtaining of nanocrystalline magnesium aluminate spinel phase at lower temperature of 650 °C in comparison with the method using thermal treatment only (at 750 °C). The obtained nanomaterials exhibit mesoporous structure.     

Effect of interfacial friction force on material removal in full aperture continuous polishing process

Full aperture continuous polishing using pitch lap is a key process of finishing large flat optical workpiece. The friction force of the workpiece and pitch lap interface significantly affects material removal. In this work, the friction force was determined by a measurement system that uses force transducers to support the workpiece. Experimental and theoretical analyses have been carried out to investigate the evolution of friction force with polishing time and its effect on material removal. Our results show that the friction coefficient of the workpiece/lap interface decreases during polishing, which is due to surface smoothing of the viscoelastic pitch lap by loading conditioner. In addition, the spatial average and uniformity of material removal rate (removal coefficient) increases with the increase of friction coefficient, which is due to rough lap surface, provides more sharp asperities to charge the polishing particles.     

微间隙共形圆柱接触力模型的适用性分析

针对目前间隙铰接副接触力模型无法有效表述不同材料耗散阻尼效应,以及不适用于微间隙共形接触的问题,分析各种接触力模型中弹性接触力和耗散阻尼力计算方法的优缺点,提出一种普适性的圆柱内接触力分析模型。该模型将接触力描述为接触深度的显式函数,并将其适用范围有效地扩展至微间隙和低恢复系数工况。采用含间隙铰接副的曲柄-滑块机构进行动力学分析,对所提出接触力进行验证,计算结果表明:所提出的普适性接触力模型体现了微间隙时更高的接触刚度和低恢复系数时显著的阻尼效应,从而可为不同材料和间隙尺寸的间隙铰接副力学分析提供更为完备的计算模型。     

The vibration and pull-in mechanism of two coupled elastically restrained beams assembly subjected to electrostatic force

ABSTRACT

The novel model of the coupled beam-type electrodes with elastic roots, subjected to the AC and DC voltages is constructed. The exact critical pull-in voltage of the two coupled elastically restrained beams with size effect is presented. The analytical method of the general system subjected to the AC and DC voltages simultaneously is presented. The characteristic mechanism of coupled vibration is investigated.     

Pressure sensor matrix for indirect measurement of grip and push forces exerted on a handle

To date, a large part of workers is exposed to vibrations (23% in Europe) which can negatively impact on their health. This work discusses the importance of measuring grip and push forces in the context of hand-arm vibration tests, bearing in mind the state-of-art of current standards. It proposes a method for indirect measurement of coupling forces using a matrix of polymeric pressure capacitive sensors and discusses the model used for defining these quantities. The matrix of pressure sensors is wrapped around the tool handle and the acting forces, exchanged with the handle, are derived from the pressure values measured by the matrix. Calibration is presented and the effect of curvature is discussed. The work continues with the experimental validation of the model proposed for push force measurements carried out through lifting tests using known masses with a cylindrical handle. An experimental correction coefficient is defined in correlation to the type of grip. The method for measuring the push force, thus corrected, is assessed by means of push force tests on an instrumented handle. Finally the experimental data are analysed in order to assess the uncertainty of the proposed method for measuring the push force, highlighting the contribution of the different sources of uncertainty. The proposed measurement method allows to measure the push and the grip force (known influencing quantities for the measurement of the hand-arm vibration) during tool test and without modifying the handles.     

A multi-start central force optimization for global optimization

Central force optimization (CFO) is an efficient and powerful population-based intelligence algorithm for optimization problems. CFO is deterministic in nature, unlike the most widely used metaheuristics. CFO, however, is not completely free from the problems of premature convergence. One way to overcome local optimality is to utilize the multi-start strategy. By combining the respective advantages of CFO and the multi-start strategy, a multi-start central force optimization (MCFO) algorithm is proposed in this paper. The performance of the MCFO approach is evaluated on a comprehensive set of benchmark functions. The experimental results demonstrate that MCFO not only saves the computational cost, but also performs better than some state-of-the-art CFO algorithms. MCFO is also compared with representative evolutionary algorithms. The results show that MCFO is highly competitive, achieving promising performance.     

On the equilibrium of funicular polyhedral frames and convex polyhedral force diagrams

This paper presents a three-dimensional extension of graphic statics using polyhedral form and force diagrams for the design of compression-only and tension-only spatial structures with externally applied loads. It explains the concept of 3D structural reciprocity based on Rankine’s original proposition for the equilibrium of spatial frames. It provides a definition for polyhedral reciprocal form and force diagrams that allows including external forces and discusses their geometrical and topological characteristics. This paper furthermore provides a geometrical procedure for constructing a pair of reciprocal polyhedral diagrams from a given polyhedron representing either the form or force diagram of a structural system. Using this method, this paper furthermore suggests a design strategy for finding complex funicular spatial forms in pure compression (or tension), based on the construction of force diagrams through the aggregation of convex polyhedral cells. Finally, it discusses the effect of changes in the geometry of the force diagram on the geometry of the form diagram and the distribution of forces in it.     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.