Ti6Al4V titanium alloy is considered a biocompatible material, suitable to be used for manufacturing medical devices, particularly cranioplasty plates. Several methods for processing titanium alloys are reported in the literature, each one presenting both advantages and drawbacks. A decision-making method based upon AHP (analytic hierarchy process) was used in this paper for choosing the most recommended manufacturing process among some alternatives. The result of AHP indicated that single-point incremental forming (SPIF) at room temperature could be considered the best approach when manufacturing medical devices. However, Ti6Al4V titanium alloy is known as a low-plasticity material when subjected to plastic deformation at room temperature, so special measures had to be taken. The experimental results of processing parts from Ti6Al4V titanium alloy by means of SPIF and technological aspects are considered.
In recent years, soft robotics has developed considerably, especially since the year 2018 when it became a hot field among current research topics. The attention that this field receives from researchers and the public is marked by the substantial increase in both the quantity and the quality of scientific publications. In this review, in order to create a relevant and comprehensive picture of this field both quantitatively and qualitatively, the paper approaches two directions. The first direction is centered on a bibliometric analysis focused on the period 2008–2022 with the exact expression that best characterizes this field, which is “Soft Robotics”, and the data were taken from a series of multidisciplinary databases and a specialized journal. The second direction focuses on the analysis of bibliographic references that were rigorously selected following a clear methodology based on a series of inclusion and exclusion criteria. After the selection of bibliographic sources, 111 papers were part of the final analysis, which have been analyzed in detail considering three different perspectives: one related to the design principle (biologically inspired soft robotics), one related to functionality (closed/open-loop control), and one from a biomedical applications perspective.
This paper presents some experimental researches regarding the manufacturing accuracy of a profiling machine together with an approach to eliminate the positioning and contouring errors. A mathematical model based on transfer functions is used as starting approach in order to tune the feed drives of the machine. The accuracy of the profiling machine is tested before and after the tuning process, in order to validate the proposed approach. There are unfolded both positioning tests along one axis and contouring tests on two axes.
This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.
Abstract. Generally speaking,the quality and cost of goods and in particular of the wood products is a decisive condition in their sales on the market, attracting buyers to satisfy their wishes and requirements. Starting from the general idea, by which it is considered that the manufacturing activity is effective if production is obtained at maximum quality with a low (minimum) cost, or when the revenue from the sale of products exceeds the market expenditure which is necessary to achieve it, this research article aims to study ways to make production more efficient by methods which could also be applied in the wood industry, by presenting a comparative study on production optimization methods in this industry.
Robot manufacturing involves continuous path control, which is now available for both robotic controllers and CAM software packages. However, CAM solutions are focused on generating the code for the robotic structure to follow the toolpath, without taking into consideration the dynamics and energy consumption. In this study, robot incremental forming was considered as the manufacturing process, and a simulation model, based upon Matlab-Simulink Simscape Multibody technology, was developed. The proposed model was fed with the trajectory information generated by the CAM program, and using an inverse kinematics function, it was able to generate the commands to drive the robotic structure on the technological toolpaths. The model was also used to study the dynamic behavior of the robot; external experimental data from a 3D force sensor were fed to the model to include the influence of the technological forces which appeared during the incremental forming process. Thus, using the proposed model in conjunction with the external CAM software, the influence of the workpiece position upon the joint torques could be estimated, opening the way for future optimization. The shortcomings of the model, mainly involving inaccurate information with regard to the physical properties of the robotic structure, were addressed by subtracting the dry-run joint torques from those obtained from the technological process.
Single point incremental forming (SPIF) is a new flexible sheet metal forming process characterized by low costs and the possibility to produce prototype parts without the need for a specific die. This is one of the reasons why this process is nowadays used for manufacturing of highly customized small series parts. The process involves the usage of a hemispherical punch which gradually deforms the sheet metal blank fixed by two simple clamping rings, by following a path until the final shape of the product is obtained. The aim of this paper is to investigate and analyze the influence of the vertical step over forces involved in the process and obtained geometrical accuracy, which is one of the main drawbacks for large scale implementation of the process. A numerical analysis was carried out through finite element method with different step size for frustrum pyramid shaped parts made from the same material. In this way, the most appropriate vertical step can be chosen for further experimental research in order to obtain the most accurate parts and with as little stress as possible on the equipment involved in the process.
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