Abrasive water jet machining (AWJM) is one of the most environmentally friendly non-conventional machining processes, which can be employed to cut hard and thin materials without any thermal effects. In this study, the technique for order of preference by similarity to ideal solution (TOPSIS) has been combined with the Entropy method and employed to find out the multi-criteria decision-making of process parameters. Experimental investigations have been conducted to evaluate the performance of the AWJM process in terms of surface roughness (Ra) and kerf angle (Ka). The selected process parameters are a stand-off distance (SOD), traverse speed (TS), and abrasive flow rate (AFL), whereas the AL-alloy 2024-T3 was selected as the workpiece material. The image process technique has been utilized to measure the values of the Ka. The results demonstrate that the optimal solutions of the AWJM process, which give the smallest value of Ra and minimizes Ka, are 2 mm, 20 mm/min, and 100 g/min, for SOD, TS, and AFL respectively.
This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.
Kinematics is the mechanics branch which dealswith the movement of the bodies without taking the force into account. In robots, the forward kinematics and inverse kinematics are important in determining the position and orientation of the end-effector to perform multi-tasks. This paper presented the inverse kinematics analysis for a 5 DOF robotic arm using the robotics toolbox of MATLAB and the Denavit-Hartenberg (D-H) parameters were used to represent the links and joints of the robotic arm. A geometric approach was used in the inverse kinematics solution to determine the joints angles of the robotic arm and the path of the robotic arm was divided into successive lines to accomplish the required tasks of the robotic arm.Therefore, this method can be adopted for engineering applications. MATLAB (Graphical User Interface) program was used to simulate the movement of the robotic arm in 3D. Also, MATLAB (GUI) has been used to view the position of each joint.The results showed thatthe maximum error in the x, y, and z coordinates of the end-effector were 0.0251 %, 0.0239 %, and 0.1085 % respectively.
This paper investigates the applicability of the proposed digital image correlation (DIC) system instead of traditional method by microscope to measure the strains in forward extrusion process, which conducted for rectangular section with plane strain condition by using taper die at angle (2 =90 ) and the proportion of reduction in area is (42.85 %). Commercial pure lead (99.99% Pb) was chosen as a typical pattern to measure the strain and strain rate for the forward extrusion process by a visio-plasticity technique and the proposed digital image correlation system. The obtained results indicate that the proposed digital image correlation (DIC) system is an accurate and reliable for measuring the strains using inexpensive equipments.
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