Sharif Digital Repository

In the application of parallel kinematic machine tools (PKM), because of errors in the geometric parameters, it is necessary to calibrate the PKM to improve the positioning accuracy. In existing self-calibration methods, either some redundant sensors on passive joints or some mobility constraints on the kinematic chains are used. However, the mobility constraints imposed on kinematic chains might apply large forces during the test on legs and passive joints. Also, these kinds of calibrating are applicable only on PKMs in which their actuated joints can be used as passive joints. To overcome weaknesses of existing methods, a novel approach to calibration based on imposing position constraints... 

In the past few years, parallel manipulators have become increasingly popular in industry, especially, in the field of machine tools. Hexaglide is a 6 DOF parallel manipulator that can be used as a high speed milling machine. In this paper, the kinematics and singularity of Hexaglide parallel manipulator are studied systematically. At first, this robot has been modeled and its inverse and forward kinematic problems have been solved. Then, formulas for solving inverse velocity are derived and Jacobian matrix is obtained. After that, three different types of singularity for this type of robot have been investigated. Finally a numerical example is presented. Copyright © 2008 by ASME  

In this investigation, the multi-objective selection and optimization of a gantry machine tool is achieved by analytic hierarchy process, multi-objective genetic algorithm, and Pareto-Edgeworth-Grierson-multi-criteria decision-making method. The objectives include maximum static deformation, the first four natural frequencies, mass, and fabrication cost of the gantry. Further structural optimization of the best configuration was accomplished using multi-objective genetic algorithm to improve all objectives except cost. The result of sensitivity analysis reveals the major contribution of columns of gantry with respect to the crossbeam's contribution. After determining the most effective... 

Ultrasonic motor working with coupled in-plane and out-of-plane vibration modes of rectangular plate is proposed and experimentally investigated. Thanks to its unique configuration, proposed motor provides large contact area between stator and rotor of motor which can reduce wear and enhance motor life-time. The proposed motor is designed using finite element method and according to the design, a prototype is fabricated and its working characteristics such as speed, normal and driving force and working frequency are measured. Overall dimension of designed prototype is 49 × 14 × 2 mm, working frequency of motor is 49.6 kHz, no-load speed and stall force of motor are 122 rpm and 0.32 mN m at... 

A precise and compact tubular ultrasonic motor driven by a single-phase source is proposed and tested in this study. The motor is designed by modeling a motor stator in FEM software. The motor fabricated according to the design is tested experimentally and its working characteristics including speed and torque are measured and presented. The maximum speed and torque of the motor are 59 rpm and 0.28 mN m at 80 Vpp of applied voltage. The proposed motor possesses advantages such as a simple and compact structure with application in the fields of robotics, space, medical devices and high-resolution stages, among others. The proposed motor is a good candidate for applications where accurate... 

Free, forced, and self-excited vibrations are the three main types of machine tool vibrations. Self-excited vibration is the most important type of destructive vibration in machining. The most important factor in increasing the chipping rate, stability, and tool life is decreasing this type of destructive vibration. In this paper, we aim to introduce a method to control the self-excited vibrations by the means of the combining a vibration absorber as a passive controlling method and a classical active controller such as PID or compensator or the other classical methods. Utilizing the SIMULINK toolbox of MATLAB software, first, we designed and added the vibration absorber to the model... 

The production with high quality at the lowest production time can be a key means to success in the competitive environment of manufacturing companies. Therefore, in recent years, the need for extra precise and high-speed machine tools has been impressively increased in manufacturing applications. One of the main sources of errors in the motion of high-speed spindles is the occurrence of non-repetitive runouts (NRRO) in the bearing. The NRRO can be caused by some factors such as the form of balls, the waviness of rings, the number of balls, and the permutation of one or two balls in the ball bearing. In this paper, a Taguchi-based approach is proposed for the optimal design of high-speed... 

Active Learning Method (ALM) is a powerful fuzzy soft computing tool, developed originally in order to promote an engineering realization of human brain. This algorithm, as a macro-level brain imitation, has been inspired by some behavioral specifications of human brain and active learning ability. ALM is an adaptive recursive fuzzy learning algorithm, in which a complex Multi Input, Multi Output system can be represented as a fuzzy combination of several Single-Input, Single-Output systems. SISO systems as associative layer of algorithm capture partial spatial knowledge of sample data space, and enable a granular knowledge resolution tuning mechanism through the learning process. The... 

This paper reports on the recovery of zinc, cobalt and manganese by two-step leaching of zinc-plants purification residue with sulfuric acid. The residue, hot filter press cake (HFC), contains 14 % ZnO, 4.8 % Co 3O4 and 22.9 % MnO. Effects of different parameters are determined and used to optimize the process. With acid to hot filter press cake (HFC) stoichiometry of 0.85, acid concentration of 30 g/L and temperature of 25°C, it took two minutes to separate zinc from zinc plant residue. Hydrogen peroxide (H2O2) was used as an oxidation agent. The most suitable acid concentration for leaching of both cobalt and manganese was 50 g/L. Recovery of cobalt and manganese increased with peroxide... 

In this paper, a new tool positioning strategy for five-axis machining, called the penetration-elimination method (PEM), is introduced. The PEM gains from two innovative techniques that can considerably improve the computational efficiency during the calculation of the optimal tool orientations. The first technique includes developing a quantitative definition for the gouging concept and using this definition in conjunction with powerful numerical root-finder algorithms to determine the optimized tool orientations. The second technique dynamically detects the ineffective grid points and drops them from calculations and consequently takes a great role in reducing the computational burden. The... 

Chatter vibration is a major obstacle in achieving high performance machining. In order to present a realistic model of chatter vibration, in this research, a finite element simulation of orthogonal chip formation combined with a 2D model of machine tool dynamics is developed. The proposed approach has the ability to incorporate various, mostly nonlinear, phenomena affecting chatter occurrence. The dynamic allows the tool to vibrate as a result of chip load variation leading to chatter. The 2DOF model makes it possible to observe the occurrence of model coupling phenomenon, in addition to the regeneration of waviness mechanism. The investigation of mode-coupling and regeneration phenomena in... 

In a motor-drive system, there are many factors which can be considered as a figure of merit in drive control algorithm. All of these factors should be evaluated simultaneously to achieve the reliable performance of drive. In this paper, an optimization problem is constructed on a direct torque controlled induction motor drive using a candidate from different parts of drive system: inverter loss from section of solid state converter, motor loss from section of electromechanical converter and torque ripple from mechanical section. Minimization of this cost function leads to the optimum values of drive control parameters. © 2008 IEEE  

The production with high-quality at the lowest production time can be a key means to success in the competitive environment of the manufacturing companies. Therefore, in recent years, the need for the extra precise and high-speed machine tools has been impressively increased in the manufacturing applications. One of the main sources of errors in the motion of the high-speed spindles is the occurrence of non-repetitive runouts (NRRO) in the bearing. The NRRO can be caused by some factors such as the form of balls, the waveness of rings, the number of balls, and the permutation of one or two balls in the ball bearing. In this paper, a Taguchi-based approach is proposed for the optimal design... 

In this paper, we propose a method for steganalysis of grayscale images using both spatial and Gabor features. The basis of our work is to use Gabor filter coefficients and statistics of the graylevel co-occurrence matrix of images to train a support vector machine. We show that this feature set works well in steganalysis of grayscale images steganographied by LSB matching and S-tools. ©2009 IEEE  

An analytical approach which is popular in micromechanical studies has been extended to the solution for the interference fit problem of the femoral stem in cementless total hip arthroplasty (THA). The multiple inhomogeneity problem of THA in transverse plane, including an elliptical stem, a cortical wall, and a cancellous layer interface, was formulated using the equivalent inclusion method (EIM) to obtain the induced interference elastic fields. Results indicated a maximum interference fit of about 210 μm before bone fracture, predicted based on the Drucker-Prager criterion for a partially reamed section. The cancellous layer had a significant effect on reducing the hoop stresses in the... 

The dynamic nature of today’s manufacturing industry, which is caused by the intense global competition and constant technological advancements, requires systems that are highly adaptive and responsive to demand fluctuations. Reconfigurable manufacturing systems (RMS) enable such responsiveness through their main characteristics. This paper addresses the problem of RMS configuration design, where the demand of a single product varies throughout its production life cycle, and the system configuration must change accordingly to satisfy the required demand with minimum cost. A two-phased method is developed to handle the primary system configuration design and the necessary system... 

The dynamic nature of today’s manufacturing industry, which is caused by the intense global competition and constant technological advancements, requires systems that are highly adaptive and responsive to demand fluctuations. Reconfigurable manufacturing systems (RMS) enable such responsiveness through their main characteristics. This paper addresses the problem of RMS configuration design, where the demand of a single product varies throughout its production life cycle, and the system configuration must change accordingly to satisfy the required demand with minimum cost. A two-phased method is developed to handle the primary system configuration design and the necessary system... 

Intense global competition, dynamic product variations, and rapid technological developments force manufacturing systems to adapt and respond quickly to various changes in the market. Such responsiveness could be achieved through new paradigms such as Reconfigurable manufacturing systems (RMS). In this paper, the problem of configuration design for a scalable reconfigurable RMS that produces different products of a part family is addressed. In order to handle demand fluctuations of products throughout their lifecycles with minimum cost, RMS configurations must change as well. Two different approaches are developed for addressing the system configuration design in different periods. Both... 

Intense global competition, dynamic product variations, and rapid technological developments force manufacturing systems to adapt and respond quickly to various changes in the market. Such responsiveness could be achieved through new paradigms such as Reconfigurable manufacturing systems (RMS). In this paper, the problem of configuration design for a scalable reconfigurable RMS that produces different products of a part family is addressed. In order to handle demand fluctuations of products throughout their lifecycles with minimum cost, RMS configurations must change as well. Two different approaches are developed for addressing the system configuration design in different periods. Both... 

Intense global competition, dynamic product variations, and rapid technological developments force manufacturing systems to adapt and respond quickly to various changes in the market. Such responsiveness could be achieved through new paradigms such as Reconfigurable manufacturing systems (RMS). In this paper, the problem of configuration design for a scalable reconfigurable RMS that produces different products of a part family is addressed. In order to handle demand fluctuations of products throughout their lifecycles with minimum cost, RMS configurations must change as well. Two different approaches are developed for addressing the system configuration design in different periods. Both...