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  

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... 

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... 

Mechanized tunneling method using Tunnel Boring Machine (TBM) is being extensively employed in urban areas, especially when excavation takes place underneath the groundwater table. In this study, three-dimensional coupled Finite Element Analyses (FEA) have been performed to investigate the interaction mechanism between mechanized twin tunnels construction of Shiraz metro (line 2) and groundwater. Firstly, two soil constitutive models (Mohr-Coulomb and Modified Cam-Clay model) of Shiraz lean clay are validated against drained triaxial compression test data. Varying the permeability of the grout layer within the specified range, the base numerical model is then calibrated by the field data of... 

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  

A time domain approach is used to study the cutting conditions in reaming process that leads the system to regenerative chatter vibrations. The dynamic analysis of the system includes inertia of the tool, centripetal and Coriolis terms, damping and the first mode bending of reamer. A model of cutting forces proportional to chip cross sectional area and process damping proportional to cutting speed is considered. Numerical simulation based on the Euler integration scheme is carried out to obtain time domain solution of the equation. Despite linearization in force modelling, the model is nonlinear due to the change in the tool engagement area. Another nonlinearity included in the model jumping... 

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... 

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... 

The Stability of machining process depends on the dynamics of the machine tool, among other things. However, the dynamics of the machine tool changes when the tool is changed. To avoid the need for repeating the measurements, sub-structuring analysis may be used to couple the tool and spindle frequency response functions. A major difficulty in this approach is the determination of joint stiffness and damping between the two sub-structures. In particular, the measurement of rotational responses (RDOFs) at joints is a difficult task. In this research, a simple joint model that accounts for RDOFs is proposed. It is shown that this model avoids RDOF measurement while taking into account the... 

Dynamic stability of machine tools during operations is dependent on many parameters including the spindle speed. In high and ultra high speed machining, the gyroscopic effect on the spindle dynamics becomes more pronounced and can affect the borders of stability of the rotating system. In this paper, a finite element based model of spindle, tool holder and cutting tool is presented which uses Timoshenko beam theory to obtain the frequency response of the system when gyroscopic terms are included. Using this response, the stability of a high speed spindle system in the presence of gyroscopic effect is investigated. It is shown that the gyroscopic effects lower the critical depth of cut in... 

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... 

Laser drilling is a well-established manufacturing process utilised to produce holes in various aeroengine components. This research presents an experimental investigation on the effects of laser drilling process parameters on productivity (material removal rate), hole quality (hole taper) and drilling cost. Single-pulse drilling was employed to drill a thin-walled Inconel 718 superalloy plate of 1 mm thickness using pulsed Nd:YAG laser. The experiments were designed using Box-Behnken statistical approach to investigate the impacts of pulse energy, pulse duration, gas pressure and gas flow rate on the selected responses. Multi-objective optimisation was performed using response surface... 

In high speed machining of hard materials, tools with chamfered edge and materials resistant to diffusion wear are commonly used. In this paper, the influence of cutting edge geometry on the chip removal process is studied through numerical simulation of cutting with sharp, chamfered or blunt edges and with carbide and CBN tools. The analysis is based on the use of ALE finite element method for continuous chip formation process. Simulations include cutting with tools of different chamfer angles and cutting speeds. The study shows that a region of trapped material zone is formed under the chamfer and acts as the effective cutting edge of the tool, in accordance with experimental observations....