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An incremental self-excitation method for effectively identifying low-frequency frequency response function of milling robots 一种有效识别铣削机器人低频频响函数的增量自激励方法
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-10 DOI: 10.1115/1.4063155
Jiawei Wu, X. Tang, Shihao Xin, Chenyang Wang, F. Peng, R. Yan, Xinyong Mao
Robotic machining efficiency and accuracy are limited by milling vibration and chatter. Robot dynamic characteristics are strongly dependent on the poses; therefore, acquiring the robot dynamic characteristics in any pose is important for vibration suppression and chatter avoidance in large-range machining. This paper proposes an incremental self-excitation method for effectively identifying low-frequency frequency response functions (FRF) of milling robots. A fully knowable and controllable excitation increment can be achieved by attaching a mass block at the robot end, which overcomes the shortcoming of the traditional self-excitation methods that cannot obtain the dynamic compliance magnitude. With appropriate trajectory programming, this method can be carried out automatically in the poses of interest without manual operations. First, the impulse (moment) of the incremental self-excitation is modeled based on momentum theorem, and the association model of the pulse response increment with the incremental self-excitation is established. For the problem that the FRF calculation process is sensitive to noise, the incremental self-excitation is assumed to be a Gaussian pulse, and its identification method is provided. Then, the dimensionality requirement for identifying the 9-item (direct and cross) FRFs is reduced using the modal directionality of milling robots, and the corresponding FRF calculation method is proposed. The rationality of the required simplifications and assumptions of this method is verified by experiments and calculations. The experimental results in several robot poses show that the proposed method can effectively identify all the direct and cross FRFs in the low-frequency band.
铣削振动和颤振限制了机器人的加工效率和精度。机器人的动态特性强烈依赖于姿态;因此,获取机器人在任意姿态下的动态特性,对于大范围加工中的振动抑制和颤振避免具有重要意义。针对铣削机器人低频频响函数的识别问题,提出了一种增量自激励方法。通过在机器人末端附加质量块,可以获得完全可知的可控激励增量,克服了传统自激励方法无法获得动态柔度大小的缺点。通过适当的轨迹规划,该方法可以在不需要人工操作的情况下自动完成感兴趣的姿态。首先,基于动量定理对增量自激的脉冲(力矩)进行建模,建立脉冲响应增量与增量自激的关联模型;针对频响计算过程对噪声敏感的问题,将增量自激假设为高斯脉冲,并给出了其识别方法。然后,利用铣削机器人的模态方向性降低识别9项(直接和交叉)频响的维数要求,并提出相应的频响计算方法;通过实验和计算验证了该方法所要求的简化和假设的合理性。在多个机器人姿态下的实验结果表明,该方法能有效地识别出低频段的所有直接频响和交叉频响。
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引用次数: 0
3D PRINTED DIFFRACTION GRATINGS DROP COATED BY DIFFERENT RESINS AND THEIR MECHANISM 三维打印衍射光栅滴涂不同树脂及其机理
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-09 DOI: 10.1115/1.4063137
Junyu Hua, Yujie Shan, Shaocheng Wu, Huachao Mao
3D-printed blocks with drop coating could work as diffraction gratings while the layer stepping serves as the grooves of the gratings. The paper reports 3D-printed diffraction gratings coated with different resins. A collimated laser with a wavelength of 520 nm passed through the gratings and generated diffraction patterns. Optical path differences and surface profiles of the samples were measured to analyze the mechanism of the diffraction phenomenon. The as-printed samples had a grating height of about 8 μm induced by layer stepping, which could not generate clear diffraction patterns because of too large optical path difference. After being coated with different resins on the surfaces, the printed samples generated diffraction patterns. We experimentally showed that the magnitude of optical path differences became close to the wavelength of the laser and that the diffraction phenomenon was mainly caused by the difference in the refractive indices between the as-printed part and the drop-coated part. This novel method enables low-cost 3D printers to fabricate diffractive optical elements for visible light.
采用水滴涂层的3d打印块可以作为衍射光栅,而分层步进则作为光栅的凹槽。这篇论文报道了涂有不同树脂的3d打印衍射光栅。波长为520nm的准直激光穿过光栅,产生衍射图样。测量了样品的光程差和表面轮廓,分析了衍射现象的机理。由于层进导致的光栅高度约为8 μm,光程差太大,无法产生清晰的衍射图样。在表面涂上不同的树脂后,打印的样品产生了衍射图案。实验表明,光程差的大小接近于激光的波长,衍射现象主要是由打印部分和滴涂部分的折射率差异引起的。这种新方法使低成本的3D打印机能够制造可见光的衍射光学元件。
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引用次数: 0
Improving Uniformity of Cell Distribution in Post-Inkjet-Based Bioprinting 提高喷墨后生物打印中细胞分布的均匀性
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-08 DOI: 10.1115/1.4063134
Jiachen Liu, Changxue Xu
Advancements of additive manufacturing enable fabrication of in vitro biomimetic grafts leveraging biological materials and cells for various biomedical applications. The realization of such biofabrication typically requires time from minutes to hours depending on the scale and complexity of the models. During direct biofabrication, cell sedimentation with the resultant aggregation is extensively deemed to be one of the acute problems for precise and reliable inkjet-based bioprinting. It often results in highly unstable droplet formation, nozzle clogging, and non-uniformity of post-printing cell distribution. Our previous study has implemented active bioink circulation to mitigate cell sedimentation and aggregation within the bioink reservoir. This study focuses on the comparison of post-printing cell distribution within formed microspheres and one-layer sheets with and without active circulation. The experimental results have demonstrated the significant improvement in post-printing cell distribution under implemented active circulation. Moreover, the printed sheet samples are subject to 3-day incubation to investigate the effect of cell distribution on cell viability and proliferation. It shows that compared to non-uniform cell distribution the uniform cell distribution significantly improves cell viability (92% vs 77% at Day 3) and cell proliferation (3.3 times vs 1.7 times at Day 3). The preliminary results in this letter have demonstrated not only the high effectiveness of the active bioink circulation to improve post-printing cell distribution within microspheres and one-layer sheets, but also the critical role of the uniform post-printing cell distribution in promoting cell viability and proliferation.
增材制造的进步使得能够利用生物材料和细胞制造用于各种生物医学应用的体外仿生移植物。这种生物制造的实现通常需要几分钟到几个小时的时间,这取决于模型的规模和复杂性。在直接生物制造过程中,细胞沉淀和由此产生的聚集被广泛认为是精确可靠的基于喷墨的生物打印的严重问题之一。它经常导致高度不稳定的液滴形成、喷嘴堵塞和印刷后细胞分布的不均匀。我们之前的研究已经实施了活性生物墨水循环,以减轻生物墨水库中的细胞沉积和聚集。本研究的重点是比较在有和没有活性循环的情况下,打印后细胞在形成的微球和单层片中的分布。实验结果表明,在实施主动循环的情况下,印刷后细胞分布显著改善。此外,对印刷的薄片样品进行3天的孵育,以研究细胞分布对细胞活力和增殖的影响。结果表明,与不均匀的细胞分布相比,均匀的细胞分配显著提高了细胞活力(92%对第3天的77%)和细胞增殖(3.3倍对第3天达1.7倍)。这封信中的初步结果不仅证明了活性生物墨水循环在改善微球和单层片中打印后细胞分布方面的高效性,而且还证明了打印后细胞均匀分布在促进细胞活力和增殖方面的关键作用。
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引用次数: 0
Experimental setup for in-process measurements and analysis of wear-dependent surface topographies 磨损相关表面形貌的过程测量和分析实验装置
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-08 DOI: 10.1115/1.4063133
Nils Potthoff, J. Liss, P. Wiederkehr
High-strength and corrosion-resistant materials, such as the nickel-based superalloy Inconel 718, are widely used in the energy and aerospace industries. However, machining these materials results in high process forces and significant tool wear. This tool wear has a negative effect on the resulting surface topography. Nevertheless, the accuracy requirements for functional surfaces are extreme high. Simulation systems can be used to design these processes. However, time-consuming and cost-intensive experiments often have to be conducted to develop and parameterize the required models. To overcome this problem, an analogy test setup for in-process measurements of wear-dependent properties was developed, which allows a multi-level evaluation of the process. By combining different measurement techniques, wear-dependent process characteristics can be determined and analyzed and, thus significantly reducing the measurement effort typically required.
高强度和耐腐蚀材料,如镍基高温合金Inconel 718,广泛应用于能源和航空航天行业。然而,加工这些材料会导致高加工力和显著的工具磨损。这种刀具磨损对产生的表面形貌有负面影响。然而,功能表面的精度要求极高。仿真系统可用于设计这些过程。然而,为了开发所需的模型并将其参数化,通常必须进行耗时且成本密集的实验。为了克服这个问题,开发了一种用于磨损相关性能的过程中测量的模拟测试装置,该装置允许对过程进行多层次评估。通过结合不同的测量技术,可以确定和分析与磨损相关的工艺特性,从而显著减少通常需要的测量工作量。
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引用次数: 0
Influence of wire feed speed and torch speed on the mechanical properties of wire arc additively manufactured stainless steel 送丝速度和焊枪速度对丝弧加成不锈钢力学性能的影响
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-04 DOI: 10.1115/1.4063108
Laurent Terrenoir, J. Lartigau, A. Arjunan, Laura Laguna Salvadó, Christophe Merlo
Wire Arc Additive Manufacturing (WAAM) enables 3D printing of large high-value metal components. However, integrating WAAM into production lines requires a critical understanding of the influence of process parameters on the resulting material characteristics. As such, this research investigates the relationship between WAAM wire feed speed (WFS) and torch speed (TS) on the resulting mechanical characteristics of 316LSi thick parts (2.5 cm - 0.98 in). The experimental procedure is informed by a training matrix that allows parametric analysis of WFS and TS on the ultimate tensile strength (σult), yield strength (σy), elastic modulus (E), failure strain (εf), hardness (HV0.5) and dimensional accuracy (Da) of the printed samples. The research found that WAAM-processed 316LSi parts feature isotropic material properties despite variations in WFS and TS. The developed surrogate model offers five significant polynomial models capable of accurately predicting the influence of WAAM process parameters on σult, σy, εf, E and Da. The research found TS to be the most significant WAAM process parameter in comparison to WFS for σult and εy. On the contrary σy, E and Da were found to be primarily driven by WFS as opposed to TS. Overall, the paper for the first time presents an accurate surrogate model to predict the mechanical characteristics of WAAM 316LSi thick parts informed by wire feed speed and torch speed. The study demonstrates that the mechanical properties of WAAM-processed steel are primarily influenced by the underlying process parameters offering significant potential for tunable performance.
线弧增材制造(WAAM)实现了大型高价值金属部件的3D打印。然而,将WAAM集成到生产线中需要对工艺参数对所产生的材料特性的影响有一个关键的了解。因此,本研究调查了WAAM送丝速度(WFS)和焊炬速度(TS)对316LSi厚零件(2.5 cm-0.98 in)机械特性的影响。实验程序由训练矩阵提供信息,该矩阵允许对WFS和TS的极限抗拉强度(σult)、屈服强度(σy)、弹性模量(E)、失效应变(εf)、硬度(HV0.5)和印刷样品的尺寸精度(Da)进行参数分析。研究发现,尽管WFS和TS存在变化,但WAAM加工的316LSi零件具有各向同性材料特性。所开发的替代模型提供了五个重要的多项式模型,能够准确预测WAAM工艺参数对σult、σy、εf、E和Da的影响。研究发现,与WFS相比,TS是σult和εy最重要的WAAM工艺参数。相反,σy、E和Da主要由WFS驱动,而不是由TS驱动。总之,本文首次提出了一个准确的替代模型来预测由送丝速度和焊炬速度影响的WAAM 316LSi厚零件的机械特性。研究表明,WAAM处理钢的机械性能主要受潜在工艺参数的影响,这些参数为可调性能提供了巨大的潜力。
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引用次数: 0
Autonomous robotic bin picking platform generated from human demonstration and YOLOv5 由人类演示和YOLOv5生成的自主机器人拣货平台
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-04 DOI: 10.1115/1.4063107
Jinho Park, C. Han, M. Jun, Huitaek Yun
Vision-based robots have been utilized for pick-and-place operations by their ability to find object poses. As they progress into handling a variety of objects with cluttered state, more flexible and lightweight operations have been presented. In this paper, an autonomous robotic bin-picking platform which combines human demonstration with a collaborative robot for the flexibility of the objects and YOLOv5 neural network model for the faster object localization without prior CAD models or dataset in the training. After simple human demonstration of which target object to pick and place, the raw color and depth images were refined, and the one on top of the bin was utilized to create synthetic images and annotations for the YOLOv5 model. To pick up the target object, the point cloud was lifted using the depth data corresponding to the result of the trained YOLOv5 model, and the object pose was estimated through matching them by Iterative Closest Points (ICP) algorithm. After picking up the target object, the robot placed it where the user defined in the previous human demonstration stage. From the result of experiments with four types of objects and four human demonstrations, it took a total of 0.5 seconds to recognize the target object and estimate the object pose. The success rate of object detection was 95.6%, and the pick-and-place motion of all the found objects were successful.
基于视觉的机器人已经被用于拾取和放置操作,因为它们有能力找到物体的姿势。随着它们发展到处理各种杂乱状态的对象,出现了更加灵活和轻量级的操作。本文提出了一种基于人工演示与协作机器人相结合的自动捡筒机器人平台,该平台具有物体的灵活性,而YOLOv5神经网络模型在训练中无需预先使用CAD模型或数据集即可实现更快的物体定位。在简单的人工演示要挑选和放置哪个目标对象之后,对原始颜色和深度图像进行细化,并使用bin顶部的图像为YOLOv5模型创建合成图像和注释。为了提取目标物体,利用训练好的YOLOv5模型结果对应的深度数据对点云进行提升,并通过迭代最近点(ICP)算法对点云进行匹配来估计目标物体的姿态。在拿起目标物体后,机器人将其放置在用户在之前的人类演示阶段中定义的位置。从四种物体类型和四次人体演示的实验结果来看,识别目标物体和估计物体姿态总共需要0.5秒。目标检测成功率为95.6%,发现的所有目标的拾取运动均成功。
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引用次数: 0
Hybrid laser-arc welding-induced distortions analysis of large-scale thin-walled cruise ship structures 大型薄壁游船结构激光弧焊复合变形分析
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-04 DOI: 10.1115/1.4063109
Liangfeng Li, Yansong Zhang
In recent years there has been increasing use of thin-walled structures with a plate thickness of 6mm-10mm in the construction of cruise ships. As one of the important processes of cruise ship construction, hybrid laser-arc welding, combing the advantages of laser welding and arc welding, is increasingly applied in thin-walled cruise ships with the objective of reducing panel deformation. However, due to the weak stiffness of the thin-walled structure with a continuous weld length of 4m-16m, complex welding deformation, e.g., buckling deformation will be prone to occur. This paper analyzed the deformation behavior of large-scale thin-walled cruise ship structures with the change of weld length, structural width, and plate thickness in hybrid laser-arc welding process. The buckling mode induced by the welding deformation is predicted based on the combination method of thermal elastic-plastic and inherent strain, as well as experimental verification. Comparing the deformation behavior of large thin-walled cruise ship structures, when the continuous weld length exceeds 7.5m during butt welding, the welding deformation mode transitions from bending deformation to buckling deformation. Comparing the buckling behavior of structures with different thicknesses at a length of 15m, a slight buckling occurs with a plate thickness of 10mm, but reducing the plate thickness to 6mm leads to severe buckling deformation with up to 7 half-wavelengths.
近年来,在游轮建造中越来越多地使用板厚为6mm-10mm的薄壁结构。激光-电弧焊作为游轮建造的重要工艺之一,结合激光焊接和电弧焊的优点,以减少面板变形为目的,在薄壁游轮上得到越来越多的应用。然而,由于连续焊缝长度为4m-16m的薄壁结构刚度较弱,容易发生复杂的焊接变形,如屈曲变形。分析了大型薄壁游轮结构在激光弧焊复合焊接过程中随焊缝长度、结构宽度和板厚变化的变形行为。基于热弹塑性和固有应变相结合的方法,对焊接变形引起的屈曲模式进行了预测,并进行了实验验证。对比大型薄壁游轮结构的变形行为,当对接焊接时连续焊缝长度超过7.5m时,焊接变形模式由弯曲变形转变为屈曲变形。比较不同厚度结构在长度为15m时的屈曲行为,当板厚为10mm时屈曲轻微,而当板厚为6mm时,屈曲变形严重,最多可达7个半波长。
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引用次数: 0
A Brief History of the Progress of Laser Powder Bed Fusion of Metals in Europe 欧洲激光粉末床金属熔合技术进展简史
3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-03 DOI: 10.1115/1.4062788
Richard Rothfelder, Florian Nahr, Dominic Bartels, Lova Chechik, Michael Schmidt
Abstract The progress of additive manufacturing (AM) within the last few decades has been phenomenal, progressing from a polymeric technique to a method for manufacturing metallic aerospace components. We take a look at various technological advances which have helped paved the way for this growth, focussing on European input, as currently, 54% of AM machines are sold by European manufacturers (Wohlers, Campbell, Diegel, Kowen, Mostow, and Fidan, 2022, “Wohlers Report 2022: 3D Printing and Additive Manufacturing Global State of the Industry,” Wohlers Associates, ASTM International, Fort Collins, Colo., Washington, DC). We take deep dives into several critical topics including sensing and monitoring, preheating, and multi-laser technology and illustrate how these develop from research ideas into industrial products. Finally, an outlook is provided, highlighting the topics currently gaining research traction, and which are expected to be the next key breakthroughs.
在过去的几十年里,增材制造(AM)的进步是惊人的,从聚合物技术发展到制造金属航空航天部件的方法。我们来看看为这一增长铺平道路的各种技术进步,重点关注欧洲的投入,因为目前,54%的增材制造机器由欧洲制造商销售(Wohlers, Campbell, Diegel, Kowen, Mostow和Fidan, 2022,“Wohlers报告2022:3D打印和增材制造全球行业状况,”Wohlers Associates, ASTM International, Fort Collins,科罗拉多州,华盛顿特区)。我们将深入探讨几个关键主题,包括传感和监测,预热和多激光技术,并说明这些如何从研究想法发展到工业产品。最后,展望了当前获得研究牵引力的主题,以及预计将成为下一个关键突破的主题。
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引用次数: 0
European Special Issue 欧洲特别发行
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-03 DOI: 10.1115/1.4063092
Albert Shih, Vincent Wagner
Guest Editorial
客座编辑
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引用次数: 0
MANUFACTURING MULTI-MATRIX COMPOSITES: OUT-OF-VACUUM BAG CONSOLIDATION 制造多基复合材料:真空袋固结
IF 4 3区 工程技术 Q3 ENGINEERING, MANUFACTURING Pub Date : 2023-08-02 DOI: 10.1115/1.4063091
Arjun Radhakrishnan, I. Georgilas, I. Hamerton, M. Shaffer, D. Ivanov
The formation of porosity is a major challenge in any composite manufacturing process particularly in the absence of vacuum assistance. Highly localised injection of polymer matrix into regions of interest in a dry preform is a route to manufacturing multi-matrix fibre-reinforced composites with high filler concentrations which are otherwise difficult to achieve. Such multi-matrix fibre-reinforced composite systems, which combine multiple resins in continuous form offer improved structural performance around stress concentrators and multi-functional capabilities, unlike traditional composite materials. As the process lacks vacuum assistance, porosity becomes a primary issue to be addressed. This paper presents a rheo-kinetic coupled rapid consolidation procedure for optimizing the quality of localised matrix patches. The procedure involves manufacturing trials and analytical consolidation models to determine the best processing program for minimal voidage in the patch. The results provide a step towards an efficient manufacturing process for designing multi-matrix composites without the need for complex vacuum bag arrangements. By optimizing the quality of the localised matrix patches, the procedure described in this paper can improve the overall performance of multi-matrix composite systems. The ability to create these composites without the need for complex vacuum bag arrangements can also reduce the manufacturing cost and time associated with the manufacturing of multi-matrix fibre-reinforced composites.
在任何复合材料制造过程中,特别是在没有真空辅助的情况下,孔隙度的形成都是一个主要的挑战。将聚合物基体高度局部地注入干预制体中感兴趣的区域是制造具有高填料浓度的多基体纤维增强复合材料的途径,否则难以实现。与传统复合材料不同,这种多基体纤维增强复合材料系统将多种树脂以连续形式组合在一起,可以改善应力集中器的结构性能和多功能性能。由于该工艺缺乏真空辅助,孔隙率成为需要解决的主要问题。本文提出了一种流变动力学耦合的快速固结方法,用于优化局部矩阵贴片的质量。该程序包括制造试验和分析巩固模型,以确定最小的贴片空隙的最佳加工程序。该结果为设计多基复合材料的高效制造工艺提供了一步,而不需要复杂的真空袋布置。通过优化局部矩阵块的质量,可以提高多矩阵复合系统的整体性能。在不需要复杂的真空袋布置的情况下制造这些复合材料的能力也可以减少与制造多基体纤维增强复合材料相关的制造成本和时间。
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引用次数: 0
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