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Inkjet Printing of PEDOT:PSS Inks for Robotic Skin Sensors PEDOT喷墨打印:机器人皮肤传感器用PSS油墨
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-80989
Olalekan O. Olowo, Ruoshi Zhang, A. Sherehiy, B. Goulet, Alexander Curry, Danming Wei, Zhong Yang, Moath H. A. Alqatamin, D. Popa
Enhancing physical human-robot interaction requires the improvement in the tactile perception of physical touch. Robot skin sensors exhibiting piezoresistive behavior can be used in conjunction with collaborative robots. In past work, fabrication of these tactile arrays was done using cleanroom techniques such as spin coating, photolithography, sputtering, wet and dry etching onto flexible polymers. In this paper, we present an addictive, non-cleanroom improved process of depositing PEDOT: PSS, which is the organic polymer responsible for the piezoresistive phenomenon of the robot skin sensor arrays. This publication details the patterning of the robot skin sensor structures and the adaptation of the inkjet printing technology to the fabrication process. This increases the possibility of scaling the production output while reducing the cleanroom fabrication cost and time from an approximately five-hour PEDOT: PSS deposition process to five minutes. Furthermore, the testing of these skin sensor arrays is carried out on a testing station equipped with a force plunger and an integrated circuit designed to provide perception feedback on various force load profiles controlled in an automated process. The results show uniform deposition of the PEDOT: PSS, consistent resistance measurement, and appropriate tactile response across an array of 16 sensors.
增强人机物理交互需要提高物理触摸的触觉感知能力。具有压阻行为的机器人皮肤传感器可以与协作机器人一起使用。在过去的工作中,这些触觉阵列的制造是使用洁净室技术完成的,如旋转涂层、光刻、溅射、湿法和干法蚀刻在柔性聚合物上。在本文中,我们提出了一种沉积PEDOT: PSS的添加剂,非洁净室改进工艺,PEDOT: PSS是负责机器人皮肤传感器阵列压阻现象的有机聚合物。该出版物详细介绍了机器人皮肤传感器结构的图案和喷墨打印技术对制造过程的适应。这增加了扩大生产产量的可能性,同时将洁净室制造成本和时间从大约5小时的PEDOT: PSS沉积过程减少到5分钟。此外,这些皮肤传感器阵列的测试是在一个配有力柱塞和集成电路的测试站上进行的,该集成电路设计用于在自动化过程中控制各种力负载曲线提供感知反馈。结果表明,在16个传感器阵列上,PEDOT: PSS沉积均匀,电阻测量一致,触觉响应适当。
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引用次数: 1
Precision Evaluation of Large Payload SCARA Robot for PCB Assembly 大载荷SCARA机器人PCB装配精度评价
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-85534
Andrew S. Nimon, A. Sherehiy, Moath H. A. Alqatamin, Danming Wei, D. Popa
The placement of SMD components is usually performed with Cartesian type robots, a task known as pick-and-place (P&P). Small Selective Compliance Articulated Robot Arm (SCARA) robots are also growing in popularity for this use because of their quick and accurate performance. This paper describes the use of the Lean Robotic Micromanufacturing (LRM) framework applied on a large, 10kg payload, industrial SCARA robot for PCB assembly. The LRM framework guided the precision evaluation of the PCB assembly process and provided a prediction of the placement precision and yield. We experimentally evaluated the repeatability of the system, as well as the resulting collective errors during the assembly. Results confirm that the P&P task can achieve the required assembly tolerance of 200 microns without employing closed-loop visual servoing, therefore considerably decreasing the system complexity and assembly time.
SMD组件的放置通常由笛卡尔型机器人执行,这是一项被称为拾取放置(P&P)的任务。小型选择性合规铰接式机械臂(SCARA)机器人也越来越受欢迎,因为它们的快速和准确的性能。本文描述了将精益机器人微制造(LRM)框架应用于大型10kg有效载荷的工业SCARA PCB组装机器人。LRM框架指导了PCB装配过程的精度评估,并提供了放置精度和成品率的预测。我们通过实验评估了系统的可重复性,以及组装过程中产生的集体误差。结果表明,在不采用闭环视觉伺服的情况下,P&P任务可以达到200微米的装配公差要求,从而大大降低了系统的复杂性和装配时间。
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引用次数: 0
Assessment of Shape Descriptors for Distortion Prediction in Powder Bed Fusion Process 粉末床熔合过程变形预测的形状描述符评估
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-86089
Hemnath Anandan Kumar, S. Kumaraguru
Metal additive manufacturing paves the way for industries to create new applications through unique design capabilities. The powder bed fusion process is one among many metal additive manufacturing technologies that are commercially successful. Despite its numerous advantages and application in various fields, defects may occur during processing, which causes premature failure of components. Distortion is one of the major defects, and it depends on process settings, geometry, and orientation related. These distortions and dimensional deviations should be predicted faster for part qualification for many industrial applications. This work attempts to predict distortions based on shape descriptors to address this issue. Shape descriptors are definitions used to identify the details of the shape of a model to be printed. It can be either two dimensional or three dimensional. In this work, 2D shape descriptors are selected for analysis. These 2D shape descriptors can help identify how the design features significantly affect the part distortion in the PBF process. In this work, a few 2D shape descriptors are defined and modelled as a design feature to achieve the objective. Then the respective models are subjected to distortion analysis. The relationship between shape descriptors and distortion are studied through inherent strain method based simulation of distortion. It is observed from the results that most shape descriptors defined in this work can be used to predict the distortion. This work serves as a base and can help create knowledge for proposing design guidelines for the metal powder bed fusion process and helps in redesigning to prevent distortions.
金属增材制造通过独特的设计能力为行业创造新的应用铺平了道路。粉末床熔融工艺是众多商业上成功的金属增材制造技术之一。尽管它有许多优点,在各个领域都有应用,但在加工过程中可能会出现缺陷,导致部件过早失效。变形是主要缺陷之一,它与工艺设置、几何形状和取向有关。在许多工业应用中,这些变形和尺寸偏差应该更快地预测零件资格。这项工作试图预测基于形状描述符的扭曲来解决这个问题。形状描述符是用来标识要打印的模型的形状细节的定义。它可以是二维的也可以是三维的。在这项工作中,选择二维形状描述符进行分析。这些二维形状描述符可以帮助识别设计特征如何显著影响PBF过程中的零件变形。在这项工作中,一些二维形状描述符被定义并建模为设计特征来实现目标。然后对各模型进行了失真分析。通过基于固有应变法的变形仿真,研究了形状描述子与变形之间的关系。从结果中可以看出,在这项工作中定义的大多数形状描述符都可以用来预测变形。这项工作可以作为一个基础,可以帮助为提出金属粉末床熔合工艺的设计指南提供知识,并有助于重新设计以防止变形。
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引用次数: 0
A Functionally Gradient NiTi Shape-Memory Alloy Fabricated by Selective Laser Melting 选择性激光熔化制备功能梯度NiTi形状记忆合金
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-83645
Kun Li, J. Zhan, Ruijin Ma, Yingzhi Ren, Jinxin Lin
The near-equiatomic NiTi alloy has a shape memory function, but the simple forming structure limits its application. Selective laser melting is a promising way to manufacture functionally complex structures due to its layer-wise production advantage, which could broaden the applications of NiTi alloy in the engineering fields. This work explored a novel method of controlling the repetition of laser remelting to manufacture NiTi alloys with multiple phase-transformation temperatures via selective laser melting (SLM). The results demonstrates that the remelting strategy not only increases the ultimate tensile strength and elongation of the SLMed NiTi alloy, but also increases the Ms above room temperature. The increase in laser power increases the temperature at which martensite starts (Ms) to transformation in the range higher room temperature (25°C), thus increasing the critical stress of martensitic detwinning in the final sample. Through the optimized repetitive laser remelting strategy with different laser powers on specific areas of the sample, a functionally gradient NiTi build is successfully obtained. This study suggests SLM embedded with laser remelting is a potential method to realize 4D printing for NiTi alloys.
近等原子NiTi合金具有形状记忆功能,但成形结构简单,限制了其应用。选择性激光熔化具有分层制造的优势,是一种很有前途的制造功能复杂结构的方法,可以拓宽NiTi合金在工程领域的应用。本工作探索了一种控制激光重熔重复的新方法,通过选择性激光熔化(SLM)来制造具有多种相变温度的NiTi合金。结果表明,重熔策略不仅提高了SLMed NiTi合金的极限抗拉强度和延伸率,而且提高了室温以上的Ms。激光功率的增加提高了马氏体在较高室温(25℃)范围内开始转变的温度(Ms),从而增加了最终样品中马氏体失孪的临界应力。通过优化的重复激光重熔策略,在不同的激光功率下对样品的特定区域进行重熔,成功地获得了功能梯度的NiTi构建。该研究表明,激光重熔嵌入SLM是实现NiTi合金4D打印的一种有潜力的方法。
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引用次数: 0
Support Vector Machines for Classification of Direct Energy Deposition Standoff Distance for Improved Process Control 基于直接能量沉积距离分类的支持向量机改进过程控制
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-85382
Zoe Alexander, Nathaniel DeVol, Molly Emig, K. Saleeby, T. Feldhausen, Thomas Kurfess, Katherine Fu, Christopher Saldaña
A critical factor in the implementation of direct energy deposition is the ability to maintain the standoff distance between the nozzle and the build surface, as this influences powder capture efficiency and overall part quality. Due to process-related variations, layer height may vary, causing unintended variation in standoff distance and poor build quality. While prior work has utilized contact probing to qualify standoff distance during processing, in situ methods for qualification of standoff distance are of major interest. The present work seeks to understand efficacy of image-based methods for classifying standoff distance variation in real-time using support vector machines (SVMs). It was hypothesized that the size of the melt pool and the amount of spatter will have significant correlations with deviations in the standoff distance; thus, SVMs were used on a dataset that is comprised of morphological features of melt pool size and image entropy. The SVM model was used to classify melt pool images into categories according to standoff distance variation from nominal. K-folds cross validation was used to find the optimal hyperparameters for the SVM model. To understand the impact of the selected features on the classification performance and inference speed, multiple models were trained with differing numbers of included features. Results for classification score, inference time, and image preprocessing/feature extraction from these data are reported. The present results show that the SVM model was able to predict the standoff distance classification with an accuracy of 97 percent and a speed of 0.122 s per image, making it a viable solution for real-time control of standoff distance.
实现直接能量沉积的一个关键因素是能够保持喷嘴和构建表面之间的距离,因为这影响粉末捕获效率和整体零件质量。由于过程相关的变化,层的高度可能会发生变化,导致非预期的距离变化和较差的构建质量。虽然以前的工作是利用接触探测来确定加工过程中的距离,但确定距离的原位方法是主要的兴趣。本研究旨在了解使用支持向量机(svm)实时分类对峙距离变化的基于图像的方法的有效性。假设熔池的大小和飞溅量与距离偏差有显著的相关性;因此,在由熔池大小和图像熵的形态特征组成的数据集上使用支持向量机。利用支持向量机模型对熔池图像进行分类,根据离标称距离的变化对熔池图像进行分类。采用k -fold交叉验证方法寻找支持向量机模型的最优超参数。为了了解所选特征对分类性能和推理速度的影响,使用不同数量的包含特征训练多个模型。报告了分类分数、推理时间和图像预处理/特征提取的结果。目前的研究结果表明,SVM模型能够以97%的准确率和0.122 s的速度预测每幅图像的距离分类,使其成为实时控制距离的可行方案。
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引用次数: 0
Fabrication of Nanowires Using Glancing Angle Deposition 掠角沉积法制备纳米线
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-83719
C. Qu, S. Mcnamara, K. Walsh
This paper introduces the fabrication of wafer-long nanowires using glancing angle deposition (GLAD). GLAD is an advanced physical vapor deposition technique, and it has the unique advantage of creating three-dimensional nanofeature arrays, compared to conventional top-down nanofabrication techniques. Various nanofeatures created by GLAD have been reported, including pillars, springs, chevrons, ribbons, and those structures as templates for creating nanoporous membranes; this paper fills the gap by presenting the creation of nanowires by GLAD. This paper describes the fabrication process by introducing the seeding scheme of corrals. The seed design for GLAD adopts the design rules of corrals of line seeds, and the GLAD parameters are determined by the design of the corrals of line seeds. In the experiment, conventional photolithography is used for creating micro-level widths and heights and wafer-length of line seed corrals. Two GLAD sessions with the target material for the nanowires and the mask material are deposited on the substrate in sequence with different azimuth angles; the nanowires are obtainable by anisotropic etching and removal of the sacrificial layer of corrals of line seeds. The design of the corrals of line seeds and the control of the size of the nanowires are discussed. The nanowires created are potentially applied in sensing applications, for example, the palladium or platinum nanowires can be used for hydrogen sensing.
本文介绍了用掠角沉积法(GLAD)制备长片纳米线的方法。GLAD是一种先进的物理气相沉积技术,与传统的自上而下的纳米制造技术相比,它在创建三维纳米特征阵列方面具有独特的优势。由GLAD创建的各种纳米特征已被报道,包括柱状、弹簧状、线形、带状和那些作为创建纳米孔膜模板的结构;这篇论文填补了这一空白,展示了GLAD公司制造纳米线的成果。本文通过介绍畜栏的播种方案,阐述了畜栏的制作过程。GLAD种子设计采用线路种子圈的设计规则,GLAD参数由线路种子圈的设计确定。在实验中,常规光刻技术用于创建线种子圈的微级宽度、高度和晶圆长度。将纳米线的靶材料和掩膜材料按不同方位角顺序沉积在衬底上;通过各向异性蚀刻和去除线种子圈的牺牲层,可以获得纳米线。讨论了线种圈的设计和纳米线尺寸的控制。所创造的纳米线有可能应用于传感应用,例如,钯或铂纳米线可用于氢传感。
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引用次数: 0
Controlled Wetting of Spread Powder and its Impact on Line Formation in Binder Jetting 涂敷粉的可控润湿及其对粘结剂喷射成形的影响
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-85603
Colton Inkley, David G. Martin, Brennen Clark, N. Crane
Binder Jetting (BJ) has increased in popularity and capability since its development at MIT as it offers advantages such as fast build rates, integrated overhang support, low-power requirements, and versatility in materials. However, defects arise during layer spreading and printing that are difficult to remove during post-processing. Many of these defects are caused by particle rearrangement/ejection during binder deposition. This study explores methods of reducing particle rearrangement and ejection by applying small amounts of moisture to increase the cohesive forces between powder particles. A moisture application system was built using a piezo-electric disk to atomize water to apply a desired liquid to the BJ powder bed without disruption. The moisture is applied after spreading a new layer. Lines of binder were printed using varying droplet spacings and moisture levels. Results show that the moisture delivery system applied moisture levels across the entire application area with a standard deviation under 23%. The moisture levels delivered also had a single position test-to-test uniformity standard deviation under 21%. All tested levels of moisture addition showed mitigation of the balling defects observed in lines printed using dry powder under the same parameters. Moisture addition decreased effective saturation and increased line dimensions (height and width), but lines printed using the smallest amount of moisture tested, showed similar saturation levels and line widths to lines printed in dry powder while still partially mitigating balling.
粘结剂喷射(BJ)自麻省理工学院(MIT)开发以来,由于其具有快速构建速度、集成悬架支撑、低功耗要求和材料多功能性等优点,因此越来越受欢迎,性能也越来越强。然而,在铺层和印刷过程中会产生缺陷,在后处理过程中难以消除。许多这些缺陷是由粘结剂沉积过程中的颗粒重排/喷射引起的。本研究探讨了通过施加少量水分来增加粉末颗粒之间的凝聚力来减少颗粒重排和喷射的方法。利用压电盘雾化水,在不破坏BJ粉末床的情况下,将所需的液体应用于BJ粉末床。在涂上一层新膜后再涂上水分。使用不同的液滴间距和湿度水平印刷粘合剂线。结果表明,水分输送系统在整个应用区域施加的水分水平的标准偏差在23%以下。提供的湿度水平也具有单位置测试到测试均匀性标准偏差在21%以下。所有测试的水分添加水平都表明,在相同参数下使用干粉印刷的线条中观察到的起球缺陷有所缓解。添加水分降低了有效饱和度,增加了线条尺寸(高度和宽度),但使用最小水分测试的线条显示出与干粉印刷的线条相似的饱和度和线条宽度,同时仍然部分减轻了起球。
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引用次数: 2
Robust and Scalable Synthesis of High Surface Area Porous Copper Spheriodized Powders by Electroless Chemical Dealloying 化学化学脱合金法制备高比表面积多孔铜球化粉末
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-85894
S. Niauzorau, N. Kublik, A. Hasib, B. Azeredo
In the past decade, nanoporous metals have been a point of interest in the scientific community because they exhibit chemical, optical, and mechanical properties that are unique from their bulk counterparts. One of the most prominent method for its synthesis is chemical dealloying. While, under electrolytic conditions, dealloying can use process-inputs such as current density and electrical potential to control the ligament size during its synthesis with excellent reproducibility, electroless methods are plagued by the lack of local control of dealloying rates which introduces batch-to-batch variations in ligament size. Given that powder is a format incompatible with electrolysis, this study shows an approach to safely scale fabrication of spherical porous copper powders containing oxides from gas atomized Cu-Al powders. Additionally, the agglomeration that is commonly associated with porous powder fabrication was addressed by its functionalization with an anionic surfactant and powder washing in both deionized water (polar) and anhydrous ethanol (nonpolar). Additionally, hazards associated with its production scaling such as excessive hydrogen evolution, heat generation due to its high-reactivity and exothermic reaction and pyrophoricity are discussed and addressed. As a result of this study, a robust and scalable approach was developed to produce 100 of grams of porous metal powders.
在过去的十年里,纳米多孔金属一直是科学界感兴趣的一个点,因为它们表现出与块状金属不同的化学、光学和机械性能。其中最主要的合成方法是化学合金化。然而,在电解条件下,在合成过程中,脱合金可以使用电流密度和电势等过程输入来控制韧带大小,并且具有良好的再现性,而化学方法则受到缺乏局部控制脱合金速率的困扰,这导致了韧带大小的批次差异。鉴于粉末是一种与电解不相容的形式,本研究展示了一种安全规模化制造球形多孔铜粉末的方法,该粉末含有气体雾化Cu-Al粉末的氧化物。此外,通过阴离子表面活性剂的功能化和在去离子水(极性)和无水乙醇(非极性)中进行粉末洗涤,解决了通常与多孔粉末制造相关的团聚问题。此外,还讨论并解决了与生产规模相关的危害,如过度的析氢,由于其高反应性和放热反应而产生的热量以及焦性。作为这项研究的结果,开发了一种强大且可扩展的方法来生产100克多孔金属粉末。
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引用次数: 0
Mechanical Profile and 3D Printability of Cellular Structures 细胞结构的机械轮廓和3D打印能力
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-85541
Sina Rastegarzadeh, Samuel Muthusamy, Jida Huang
Microstructures are critical elements for mechanical metamaterials design and fabrication. Tailoring the internal microscale structural pattern can achieve a much broader range of bulk properties than the constituent materials, thus enabling the metamaterial design with extraordinary properties. Studying the mechanical properties and fabricability of microstructures is critical for understanding metamaterials’ structural design and macroscale performances. This paper categorizes the commonly designed microstructures into two main classes: deterministic implicit function-based and stochastic nature-based designing strategies. The mechanical properties and 3D printability of typical instances within the two classes are studied and experimentally analyzed. Specifically, we investigate the macroscale mechanical properties (e.g., Young’s modulus, shear modulus, bulk modulus, percentage of anisotropy) of microstructures defined with triply periodic minimal surfaces (TPMS), Fourier series-based functions (FSFs), Gaussian random filed-based (GRF), and Voronoi-based microstructures. Asymptotic homogenization is exploited herein to study the macroscale properties of different microstructures, and the manufacturability of the structures is experimentally analyzed and validated on an FDM printer. We summarize the mechanical profiles and manufacturability of these microstructures defined by various principles. The resulting mechanical profiles and manufacturability of microstructures provide a reasonable basis for establishing a microstructure database and shed light on the on-demand structural units generation for metamaterial design and fabrication.
微观结构是机械超材料设计和制造的关键因素。定制内部微尺度结构模式可以实现比组成材料更广泛的体性能范围,从而使超材料设计具有非凡的性能。研究微观结构的力学性能和可加工性对于理解超材料的结构设计和宏观性能至关重要。本文将常用的微结构设计策略分为两大类:基于确定性隐函数的微结构设计策略和基于随机自然的微结构设计策略。对两类典型材料的力学性能和3D打印性能进行了研究和实验分析。具体来说,我们研究了由三周期最小曲面(TPMS)、基于傅立叶级数的函数(fsf)、基于高斯随机场(GRF)和基于voronoi的微结构定义的微结构的宏观力学性能(例如,杨氏模量、剪切模量、体积模量、各向异性百分比)。利用渐近均匀化技术研究了不同微观结构的宏观性能,并在FDM打印机上对结构的可制造性进行了实验分析和验证。我们总结了这些由不同原理定义的微观组织的力学特征和可制造性。由此得到的微结构的力学轮廓和可制造性为建立微结构数据库提供了合理的依据,并为超材料设计和制造的按需结构单元生成提供了依据。
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引用次数: 0
Hybrid Modeling the Influence of Post Processing Heat Treatments on the Strengthening Mechanisms of Additively Manufactured Inconel 718 后处理热处理对增材制造Inconel 718强化机理影响的混合建模
IF 1 Q4 ENGINEERING, MANUFACTURING Pub Date : 2022-06-27 DOI: 10.1115/msec2022-86354
A. Alafaghani, Majed Ali, Abdalmageed Almotari, Jian-Qiao Sun, A. Qattawi
Due to the layering nature of additive manufacturing, additively manufactured parts exhibit a unique microstructure and are more susceptible to defects. Post-processing heat treatments of additively manufactured parts have shown great promise in improving their quality and reliability. However, the previous studies presented here demonstrated that additively manufactured parts respond to heat treatments differently compared to their traditional counterparts. This demonstrates a need for models that can predict the influence of different heat treatments on the mechanical behavior of additively manufactured parts. A hybrid approach between data-driven and physically informed models was adopted to model the influence of post-processing heat treatments on the strengthening mechanisms of additively manufactured Inconel 718. This work focuses on Inconel 718 for its common use in additive manufacturing and because it is one of the most studied additively manufactured alloys which resulted in producing more data that can be used to model its behavior.
由于增材制造的层次性,增材制造的零件呈现出独特的微观结构,更容易产生缺陷。增材制造零件的后处理热处理在提高其质量和可靠性方面显示出巨大的前景。然而,先前的研究表明,与传统的零件相比,增材制造的零件对热处理的反应不同。这表明需要能够预测不同热处理对增材制造零件力学行为影响的模型。采用数据驱动模型和物理信息模型的混合方法,模拟了后处理热处理对增材制造Inconel 718强化机制的影响。这项工作的重点是Inconel 718,因为它在增材制造中的普遍应用,因为它是研究最多的增材制造合金之一,导致产生更多的数据,可用于模拟其行为。
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引用次数: 1
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Journal of Micro and Nano-Manufacturing
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