This paper addresses the use of a geothermal heat-sink to remove the heat released in domestic-sized single and double-effect water–LiBr absorption chillers operating in hot climates. This study is the continuation of a previous work, which demonstrated the operational constraints of these absorption chillers working in hot Algerian climate-zones. After localizing the non-operation zones for both systems, the thermo-physical properties of the soil at several depths are investigated for the implementation of the underground heat-exchanger. This heat-exchanger is connected to the condenser and the absorber of both systems, to supply cooling water at inlet temperatures of 33 °C in hot climate conditions, with ambient temperatures varying from 38 °C to 42 °C. The results show a steady operation for both absorption chillers in climate conditions which had not previously allowed the two systems to operate in water or air-cooled modes. A maximum coefficient of performance of 0.76 and 1.25 is obtained for single- and double-effect absorption cycles, respectively, with chilled water at 7 °C. The underground-tube length required is between 4.5 and 18 m, depending on the absorption-cycle configuration and the temperature of the chilled water.
Compared to CNC machines, robotic milling has performance limitations such as accuracy and quality. The main source of the robot’s inaccuracy during machining is the flexibility of its parts (body or joints). This error disturbs the movement of the end effector, affecting the part’s surface finish. In order to improve the robot’s accuracy and minimize the positioning error of the end effector during the milling operation, this paper presents, first, a method based on the elasto-static model to predict the Cartesian deflection of the end effector of a three DOF redundant planar robot, and second, optimization techniques with original objective functions based on the single and multi-objective genetic algorithm, which will be presented and compared. The programming of the two methods and the results of the study will be done using MATLAB software. The analysis of simulation results of the two optimization techniques GA and MOGA revealed that the tool configuration and cutting parameters used for robotic milling have a direct influence on the robot's path accuracy and milling performance. Whereas for a φ0=69.6, φf=72.43 the maximum tool deviation in its path is Δxmax ≈ |0.125| mm with a maximum roughness profile height Ra = 1600 μm. While the positioning error is said to be minimal Δxmin ≈ |0.025| when φ0= -38.67, φf = -35.92, and the roughness Ra= 25 μm.
Offline programming is a critical step in the implementation of various robotic tasks such as pick-and-place, welding, cutting, and milling. This paper describes a simulation study that analyses the accuracy of the robot's path tracking, during tasks that require the robot tool to interact with the environment, while considering the current operating conditions. To accurately determine the actual position of the Tool Center Point (TCP) and the associated orientation of the end effector, the study will first establish a robot model that takes into account the elasto-static behavior during the milling process that generates significant contact forces on the end effector. Then, an offline simulation tool is developed within the SolidWorks® CAD environment. The analysis of simulation results from multiple scenarios revealed that the tool/material contact forces were the main source of the robot's deviation from its nominal trajectories. Moreover, the range of positioning errors varies according to the architecture of the robot and the workpiece emplacement. Depending on the working conditions, the tool deflection ranges from 0.1 mm to 0.75 mm in the or cutting directions and increases as one moves away from the reference frame, while the Cartesian orientation deviation is negligible (less than 1°).
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