This paper proves in theoretical and experimental terms the availability for scientific research of the active electrical power absorbed by a CNC machining centers during a transient regime of the spindle motor (start/stop on 10,000 rpm) electrically supplied by an AC/AC converter. A simple computer assisted experimental setup (with transformers placed on the electrical supply system of the converter, signals acquire system) and processing procedures are used in order to produce a correct approach of spindle motor and converter behaviour concluded in condition monitoring and diagnosis. Some relevant results were obtained in description of active electrical power (energy) absorption during acceleration and negative power absorbed during deceleration by electrical braking, in the description of instantaneous power constituents (voltage and current) and evolution in frequency domain by fast Fourier transform. An experimental approach on energy conversion efficiency (converter input electrical energy into output mechanical energy of spindle motor) was done. As an interesting topic for future, these research achievements are available in the research of mechanical loading (torque) during cutting processes (cutting tool and process condition monitoring).
This paper proposes a simple approach on the synthesis of the 2D profiles for the rotors of cycloidal reducers. A 2D rotor (or cycloidal disc) profile (as a complex closed curve) can be defined (as an alternative to the strictly mathematical definition) as the internal bordered envelope of the family of 2D profiles of the stator (or ring gear) obtained with the stator movable (for at least a completely rotation) around the fixed rotor (or planetary gear) by respecting the gearing conditions inside a cycloidal reducer. The more 2D profiles of the stator are used the more accurate definition of 2D rotor profile is obtained. The finding of x, and y-coordinates of the points involved in the description of this 2D rotor profile is by far the most complicated problem to solve in the manufacturing of this type of reducer, the behavior and performances of the cycloidal reducer drastically depends by the accuracy of this profile. The results of this study can be easy applied in practice.
In this paper we studied the influence of micromachining parameters on processed surface quality. Usually in discussions about micro-cutting or micromachining, the grinding or diamond turning processes are considered. Cutting tools used in the mentioned processes do not have regular constructive geometry and, in this case, it is difficult to use constructive geometric parameters such as clearance angle α or rake angle γ to optimize the quality of the machined surface. In order to determine the influence of the cutting tool’s constructive geometry on the hardness of the machined material, we used a fractional factorial design of a centered and rotatable type 26−1. A mathematical model based on five independent cutting parameters was created that allowed optimization of surface quality based on obtained roughness. The results can be applied in micromilling or microturning.
Designing an industrial robot gripper suitable for today’s industry is a challenging task due to the rapid evolution of products. Industrial robots are involved in machining, the transfer of parts, control and assembly, and the number of tasks performed by robots are increasing. Robots need to have the capability to adapt to new jobs consisting of new parts and new trajectories, and in most cases the preferred end effectors are grippers. In turn, grippers need to be flexible enough in order to cope with these changes. For this research, the authors propose a new gripper design which is capable of handling a large variety of parts with different sizes and shapes. In this research, an electrically actuated four-jaw gripper, with the capability of parallel movement of its jaws, is presented that also has the capability to fold the clamping jaws two by two and become a two-jaw gripper. Since the design is most suitable for additive manufacturing techniques, different additive techniques are analyzed for the manufacturing of the gripper. In the second part of the paper, different setups of the 3D printers are considered, such as infill percentage, raster angle and layer height. The main material on focus is a PET with grinded carbon-fiber reinforcement, but different materials are used for a better comparison of the rigidity of the system. This comparison is also presented in this article. The analysis of the material and 3D printing parameters are tested with Standard D638-14 probes used in a traction testing machine. After performing the traction test, the results are compared with FEA analysis. An optimal solution based on the experimental tests is proposed for the manufacture of the proposed gripper design.
The paper consists in analyzing some of the researches on specialized literature regarding to gripping systems and proposing a new solution for a gripping mechanism that can fulfill the increasing requirements imposed by the flexible manufacturing systems regarding the orientation and positioning of parts with variable shape and dimensions. Some general consideration on state of the art in the field of gripping mechanism are presented and main development direction are indicated. The second part of the paper contains in the development of new gripper constructive solution. From the literature analysis the main requirement for a gripping system is the multi-tasking ability. The proposed designed solution uses four parallel open-close jaws/fingers controlled by two electric motors. The actuation of the jaws/fingers for clamping the part is accomplished by a primary motor. The main contribution/improvement refers to the introducing of a second/supplementary motor that is used for the movement of the position of the jaws in order to transform the gripper clamping system from a four-jaw construction to a two-jaw gripper construction and vice versa, thus increasing range of clamped parts.
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