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Kinematic design of a hybrid planar-tripod mechanism for bone reduction surgery 骨复位手术中平面-三脚架混合机构的运动学设计
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020030
T. Essomba, Sinh Nguyen Phu
In the most severe cases of longitudinal bone fractures such as femur, tibias, humerus etc., the bone can be completely separated into two fragments. In order to guarantee the re-ossification of the bone, it is required to reposition the bone fragments together. This process requires a delicate surgery called “bone reduction surgery”. The most advanced technique relies on the use of a robotic manipulator to reposition the bone fragments with higher precision and stability than manual surgeries. The present work introduces the kinematic design of a new hybrid mechanical architecture to perform this task. It is composed of a 3-PRP planar mechanism attached with a 3-RPS tripod mechanism. The kinematic analysis of this mechanism is provided while taking account the tripod parasitic motion. Kinematic simulations using Matlab and Adams are performed to validate the kinematic and velocity models and the parasitic motion compensation provided by the planar mechanism. The workspace of this hybrid mechanism is then compared to the standard hexapod mechanism that is widely used in bone reduction surgery. It reveals that the proposed mechanism can generate a larger workspace with the same linkage dimensions.
在最严重的纵向骨折如股骨、胫骨、肱骨等情况下,骨头可以完全分离成两个碎片。为了保证骨的再骨化,需要将骨碎片重新定位在一起。这个过程需要一个精细的手术,叫做“骨复位手术”。最先进的技术依赖于使用机器人操纵器来重新定位骨碎片,比手工手术具有更高的精度和稳定性。本文介绍了一种新的混合机械结构的运动学设计来完成这项任务。它由一个3-PRP平面机构和一个3-RPS三脚架机构组成。在考虑三脚架寄生运动的情况下,对该机构进行了运动学分析。利用Matlab和Adams进行了运动学仿真,验证了平面机构的运动学和速度模型以及提供的寄生运动补偿。然后将该混合机构的工作空间与广泛用于骨复位手术的标准六足机构进行比较。结果表明,该机构可以在相同连杆尺寸的情况下生成更大的工作空间。
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引用次数: 1
An inverse analysis to identify the Johnson-Cook constitutive model parameters for cold wire drawing process 冷拔过程Johnson-Cook本构模型参数的反演分析
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020070
A. Aghdami, B. Davoodi
Johnson-Cook constitutive equation was utilized to model the 10100 copper and AA 1100 aluminum wires at the cold wire drawing process. Initial Johnson cook parameters were determined through quasi-static tensile tests at different strain rates. Analytical and finite element with VUHARD subroutine solutions were implemented to calculate the drawing forces using the Johnson cook parameters. Wire drawing experiments were carried out at different drawing conditions with two areal reductions and four drawing speeds with the strain rate ranged from 37 s−1 to 115 s−1 and wire drawing forces were measured using a load cell connected to the drawing die. Results showed that the Johnson cook model with parameters determined from a quasi-static condition was not able to predict the material behavior at the wire drawing process with a moderate strain rate. In order to modify the initial JC parameters an inverse analysis approach was adopted. An objective function was defined based on analytical and experimental drawing forces differences with respect to JC parameters. Using the Newton–Raphson method, new JC parameters were identified by minimizing the objective function. Updated Johnson cook parameters showed much more correlation with experimental results.
采用Johnson-Cook本构方程对10100铜丝和AA - 1100铝丝的冷拔过程进行了建模。通过不同应变速率下的准静态拉伸试验确定初始Johnson cook参数。采用解析法和有限元法,结合VUHARD子程序求解,利用Johnson cook参数计算拉拔力。采用2种面积缩径和4种拉伸速度,在37 s−1 ~ 115 s−1应变速率范围内进行了不同拉伸条件下的拉丝实验,并利用连接在拉丝模上的称重传感器测量了拉丝力。结果表明,准静态条件下确定参数的Johnson cook模型不能预测中等应变速率拉丝过程中的材料行为。为了修正初始JC参数,采用了逆分析方法。根据分析和实验的拉伸力对JC参数的差异定义了目标函数。采用Newton-Raphson方法,通过最小化目标函数来识别新的JC参数。更新后的Johnson cook参数与实验结果的相关性更强。
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引用次数: 4
Particle-laden flow around an obstacle in a square pipe: experiments and modeling 方形管道中环绕障碍物的粒子流:实验与建模
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020063
Ouardia Ait Oucheggou, V. Pointeau, G. Ricciardi, É. Guazzelli, L. Bergougnoux
Particle trapping and deposition around an obstacle occur in many natural and industrial situations and in particular in the nuclear industry. In the steam generator of a nuclear power plant, the progressive obstruction of the flow due to particle deposition reduces the efficiency and can induce tube cracking leading to breaking and damage. The steam generator then loses its role as a safety barrier of the nuclear power plant. From a fundamental standpoint, dilute and concentrated particulate flows have received a growing attention in the last decade. In this study, we investigate the transport of solid particles around obstacles in a confined flow. Experiments were performed in a simplified configuration by considering a laminar flow in a vertical tube. An obstacle was inserted at the middle height of the tube and neutrally-buoyant particles were injected at different locations along the tube. We have investigated first the trajectories of individual particles using particle tracking (PT). Then, the particle trajectories were modeled by using the Boussinesq-Basset-Oseen equation with a flow velocity field either measured using particle image velocimetry (PIV) or calculated by the Code_Saturne software in order to account for the three-dimensional (3D) character of the obstacle wake. This paper presents a comparison between the experimental observations and the predictions of the modeling for an obstacle consisting of a rectangular step at a Reynolds number of ≈100 and evidences the importance of accounting for the 3D complex nature of the flow.
粒子在障碍物周围的捕获和沉积在许多自然和工业环境中都会发生,特别是在核工业中。在核电站的蒸汽发生器中,由于颗粒沉积导致的气流的不断阻碍降低了效率,并可能导致管道破裂和损坏。蒸汽发生器就失去了作为核电站安全屏障的作用。从基本观点来看,稀颗粒和浓颗粒流动在过去十年中受到越来越多的关注。在这项研究中,我们研究了固体颗粒在受限流动中绕障碍物的输运。实验采用简化配置,考虑垂直管内的层流。在管道的中间高度插入障碍物,并在管道的不同位置注入中性浮力颗粒。我们首先利用粒子跟踪技术研究了单个粒子的运动轨迹。然后,使用Boussinesq-Basset-Oseen方程对颗粒轨迹进行建模,并使用粒子图像测速(PIV)测量或Code_Saturne软件计算流速场,以考虑障碍物尾迹的三维(3D)特征。本文对雷诺数≈100的矩形阶跃障碍进行了实验观测与模型预测的比较,证明了考虑流动三维复杂性的重要性。
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引用次数: 3
Studying of parameters of two-phase displacement in porous media with MRI technique 用MRI技术研究多孔介质中两相驱替参数
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020058
J. Fannir, I. Panfilova, S. Leclerc, D. Stemmelen
This study describes experimental research on two-phase flow displacement using Magnetic Resonance Imaging (MRI) techniques. The overall purpose of this investigation is to determine kinetics process of phase trapping during (water-oil) two-phase flow, the front deformation and the phases saturation propagation along a vertical model. In these water flooding experiments, the porous medium model consists of packed beads of polystyrene (0.4 mm < dp < 0.6 mm) or sand grains (0.02 mm < dp < 0.50 mm). In order to conduct high accuracy experiments, a Nuclear Magnetic Resonance (NMR) spectrometer operating at 14 T (corresponding to a 600 MHz 1H resonance) equipped with an imaging device was used. With this equipment we can measure and visualize the two-phase flow in a vertical model of porous medium under ambient conditions. The obtained results have shown that the oil saturation profile is strongly influenced by the material properties such as the phase wetting, the sample porosity and permeability as well as the injection rate. The influence of flow velocity on the residual oil saturation was also studied. The experimental results allow an essential understanding of immiscible fluid displacement in two different types of porous medium that differ from each other mainly by the effects of wettability.
本文介绍了利用磁共振成像技术对两相流驱替进行的实验研究。本研究的总体目的是确定(水-油)两相流动中相捕获的动力学过程、前缘变形和相饱和度沿垂直模型的扩展。在这些水驱实验中,多孔介质模型由聚苯乙烯填充珠(0.4 mm < dp < 0.6 mm)或砂粒(0.02 mm < dp < 0.50 mm)组成。为了进行高精度实验,使用了一台工作在14 T(对应600 MHz 1H共振)的核磁共振(NMR)光谱仪,并配备了成像装置。利用该装置,我们可以测量和可视化环境条件下多孔介质垂直模型中的两相流。结果表明,相润湿性、样品孔隙度和渗透率以及注入速率等材料性质对含油饱和度剖面有较大影响。研究了流速对剩余油饱和度的影响。实验结果使人们对两种不同类型的多孔介质中的非混相流体驱替有了基本的了解,这两种介质的主要区别在于润湿性的影响。
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引用次数: 2
Mechanism of irregular crack-propagation in thermal controlled fracture of ceramics induced by microwave 微波致陶瓷热控断裂中不规则裂纹扩展机理
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020077
Xiaoliang Cheng, Chunyang Zhao, Hailong Wang, Yang Wang, Zhenlong Wang
Microwave cutting glass and ceramics based on thermal controlled fracture method has gained much attention recently for its advantages in lower energy-consumption and higher efficiency than conventional processing method. However, the irregular crack-propagation is problematic in this procedure, which hinders the industrial application of this advanced technology. In this study, the irregular crack-propagation is summarized as the unstable propagation in the initial stage, the deviated propagation in the middle stage, and the non-penetrating propagation in the end segment based on experimental work. Method for predicting the unstable propagation in the initial stage has been developed by combining analytical models with thermal-fracture simulation. Experimental results show good agreement with the prediction results, and the relative deviation between them can be <5% in cutting of some ceramics. The mechanism of deviated propagation and the non-penetrating propagation have been revealed by simulation and theoretical analysis. Since this study provides effective methods to predict unstable crack-propagation in the initial stage and understand the irregular propagation mechanism in the whole crack-propagation stage in microwave cutting ceramics, it is of great significance to the industrial application of thermal controlled fracture method for cutting ceramic materials using microwave.
基于热控断裂的微波切割玻璃和陶瓷以其较传统的加工方法具有低能耗和高效率的优点,近年来受到了广泛的关注。然而,在此过程中存在裂纹扩展不规则的问题,阻碍了该先进技术的工业应用。在本研究中,根据实验工作,将不规则裂纹扩展归结为初始阶段的不稳定扩展,中期阶段的偏差扩展和末端段的非穿透扩展。将解析模型与热破裂模拟相结合,提出了预测初始阶段不稳定扩展的方法。实验结果与预测结果吻合较好,在部分陶瓷的切削加工中,两者的相对偏差可小于5%。通过仿真和理论分析,揭示了非穿透传播和偏差传播的机理。本研究为微波切割陶瓷材料初期不稳定裂纹扩展提供了有效的预测方法,并了解了整个裂纹扩展阶段的不规则扩展机制,对微波切割陶瓷材料的热控断裂方法的工业应用具有重要意义。
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引用次数: 1
Experimental investigation and constitutive modelling of the deformation behaviour of high impact polystyrene for plug-assisted thermoforming 高冲击聚苯乙烯塞助热成型变形行为的实验研究与本构模型
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020084
O. Atmani, F. Abbès, Yuming Li, S. Batkam, B. Abbès
This paper concerns the experimental and numerical study of the plug-assisted thermoforming process of high impact polystyrene (HIPS). The thermomechanical properties of this polymer were characterized at different temperatures and deformation rates. To study the influence of different parameters in the real conditions of plug-assisted thermoforming process, we carried out “plug-only” tests at different temperatures and plug velocities. To model the deformation behaviour of HIPS, we proposed a thermo-elastic-viscoplastic model, which we have implemented in Abaqus software. A thermo-dependent friction model was also proposed and implemented in Abaqus software. The parameters of the proposed models were identified by the inverse analysis method in the real conditions of plug-assisted thermoforming. The proposed models were validated with “plug-only” tests and plug-assisted thermoforming of yogurt container.
本文对高冲击聚苯乙烯(HIPS)的插塞辅助热成形工艺进行了实验和数值研究。研究了该聚合物在不同温度和变形速率下的热力学性能。为了研究不同参数对实际条件下plug-assisted thermoforming过程的影响,我们在不同温度和plug- help速度下进行了“纯plug-only”试验。为了模拟HIPS的变形行为,我们提出了一个热弹粘塑性模型,并在Abaqus软件中实现了该模型。提出了一个热相关的摩擦模型,并在Abaqus软件中实现。在实际的插塞辅助热成形条件下,采用逆分析方法对模型参数进行了辨识。提出的模型通过“纯plug-only”试验和plug-assisted热成型酸奶容器进行了验证。
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引用次数: 4
An investigation of cutting parameters effect on sound level, surface roughness, and power consumption during machining of hardened AISI 4140 研究了淬火aisi4140加工过程中切削参数对声级、表面粗糙度和能耗的影响
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020068
Abidin Şahinoğlu, Efehan Ulas
In recent years, the necessity for energy in the manufacturing industry has become an important problem because fossil fuel reserves are decreasing in order to produce energy. Therefore, the efficient use of energy has become an important research topic. In this study, energy efficiency is investigated in detail for sustainable life and manufacturing. AISI 4140 material with high hardness of 50 HRC hardness has been applied cryogenic process to improve mechanical and machinability properties. In this experiment study, the effects of feed rate (0.04, 0.08, 0.12 mm/rev), cutting speed (140, 160, 180 m/min), depth of cut (0.05, 0.10, 0.15 mm) and tool radius (0.4, 0.8) on energy consumption, surface roughness and sound intensity were investigated. Then, a new mathematical model with high accuracy was developed. Total power consumption was calculated by considering the instantaneous current value and machining time. As a result, it is found that good surface quality obtained when the feed rate is low, and the tool radius is high and the machining time is shortened, the energy consumption is reduced due to the increase in cutting speed, depth of cut and feed rate. Also, it is found that the tool radius has a limited effect on energy consumption, but low feed value increases energy consumption.
近年来,制造业对能源的需求已成为一个重要问题,因为为了生产能源,化石燃料储量正在减少。因此,能源的高效利用已成为一个重要的研究课题。在本研究中,能源效率对可持续生活和制造进行了详细的研究。AISI 4140材料具有50 HRC的高硬度,采用深冷工艺提高了机械性能和可加工性。实验研究了进给量(0.04、0.08、0.12 mm/rev)、切削速度(140、160、180 m/min)、切削深度(0.05、0.10、0.15 mm)和刀具半径(0.4、0.8)对能量消耗、表面粗糙度和声强的影响。在此基础上,建立了一种新的高精度数学模型。综合考虑瞬时电流值和加工时间,计算总功耗。结果发现,在进给速度较低、刀具半径较大、加工时间缩短的情况下,获得了较好的表面质量,由于切削速度、切削深度和进给速度的增加而降低了能耗。刀具半径对能量消耗的影响有限,但低进给值会增加能量消耗。
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引用次数: 11
Investigation on hard turning temperature under a novel pulsating MQL environment: An experimental and modelling approach 新型脉动MQL环境下硬车削温度的实验与建模方法研究
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020078
S. Roy, Ramanuj Kumar, A. Sahoo, A. Pandey, A. Panda
Generation of total heat in hard turning largely influenced the cutting tool wear, tool life and finishing quality of work-surface. Thus, the measurement of this heat in terms of temperature becomes a necessity for achieving favourable machining performances. Therefore, this work presents a novel study on temperature measurement in three different zones during hard turning operation of 4340 grade steel under pulsating MQL environment. Temperatures are measured at three different locations namely chip-tool interface, flank face, and machined work surface (near to tool-work contact) and the location wise temperature is termed as chip tool interface temperature (T), flank face temperature (Tf) and machined work surface temperature (Tw) correspondingly. The temperature T and Tf are measured with help of K-type thermocouple while Tw is measured by Fluke make infra-red thermal camera. Pulsating MQL significantly reduced the temperature as the maximum temperature is noticed 110 °C which corresponds to chip-tool interface temperature (T) at highest speed (200 m/min) condition. In each test, the order of temperature follow the trend as: T > Tf > Tw. Considering average of all 16 temperatures, T is 14.42% greater than Tf and 39.36% larger than Tw while Tf is 21.79% greater than Tw. Experimental results concludes that the cutting speed is the most influencing factor followed by depth of cut for both T and Tf, whereas depth of cut is the most influencing factor for Tw. Further, these temperatures are predicted using linear regression, and absolute mean error (MAE) for responses T, Tf, and Tw is noticed as 1.848%, 0.542%, and 3.766% individually. Additionally, the optimum setting of input terms are estimated using WPCA (weighted principal component analysis) and found to be dc1 (0.1 mm) − fr2 (0.08 mm/rev) − vc2 (100 m/min) − Pt2 (2 s).
硬车削过程中总热量的产生对刀具磨损、刀具寿命和工件表面精加工质量有很大影响。因此,根据温度测量这种热量成为实现良好加工性能的必要条件。因此,本文对脉动MQL环境下4340级钢硬车削过程中三个不同区域的温度测量进行了新颖的研究。在三个不同的位置测量温度,即切屑-刀具界面,侧面和加工工作面(靠近刀具-工件接触),相应的位置温度称为切屑-刀具界面温度(T),侧面温度(Tf)和加工工作面温度(Tw)。温度T和Tf用k型热电偶测量,Tw用Fluke make红外热像仪测量。脉动MQL显著降低了温度,最高温度为110°C,对应于最高速度(200 m/min)条件下的切屑-刀具界面温度(T)。在每次试验中,温度的变化顺序为:T > Tf > Tw。从16个温度的平均值来看,T比Tf大14.42%,比Tw大39.36%,Tf比Tw大21.79%。实验结果表明,对T和Tf影响最大的是切削速度,其次是切削深度,而对Tw影响最大的是切削深度。此外,使用线性回归对这些温度进行预测,T、Tf和Tw响应的绝对平均误差(MAE)分别为1.848%、0.542%和3.766%。此外,使用WPCA(加权主成分分析)估计输入项的最佳设置,并发现dc1 (0.1 mm) - fr2 (0.08 mm/rev) - vc2 (100 m/min) - Pt2 (2 s)。
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引用次数: 8
Effects of process parameters on tensile strength of friction stir welded Al-Cu double-layer sheets 工艺参数对铝铜双层搅拌摩擦焊板抗拉强度的影响
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020059
M. Tabrizi, A. Mostahsan, M. Sedighi
In this paper, friction stir welding (FSW) process was used to join double-layer sheets of pure copper and 1050 aluminum alloy produced by explosive welding (EXW). The double-layer sheets were arranged side by side to perform friction stir butt-welding. In this regard, rotary FSW tools with different geometries were used at rotational speeds of 800 and 1250 rpm and linear speeds of 8, 12, and 20 mm min‑1, in one and two number of passes. According to the results, the sample welded by a conical tool with a rotational speed of 800 rpm and a linear speed of 12 mm min‑1 in one pass offered the highest tensile strength, which was approximately equivalent to the 84% of the strength of the raw double-layer sheet. In addition, applying the second FSW pass and using a threaded tool from the aluminum side had negative effects on the tensile strength. The microstructural evaluation showed the presence of more intermetallic phases including Al4Cu9, AlCu, and Al2Cu in the sample welded by the threaded tool from the aluminum side in two number of passes, which was the responsible of the lower tensile strength and the higher microhardness.
采用搅拌摩擦焊(FSW)工艺,对爆炸焊接生产的纯铜与1050铝合金双层板进行了连接。将两层板并排排列,进行搅拌摩擦对接焊。在这方面,使用了不同几何形状的旋转FSW工具,转速分别为800和1250 rpm,线速度分别为8、12和20 mm min - 1。结果表明,以800 rpm转速和12 mm min - 1的线速度进行一次焊接的试样抗拉强度最高,约相当于原双层板强度的84%。此外,应用第二个FSW通道并从铝侧使用螺纹工具对抗拉强度产生负面影响。显微组织分析表明,两道次螺纹刀具从铝侧焊接的试样中存在较多的Al4Cu9、AlCu和Al2Cu金属间相,这是导致试样抗拉强度较低、显微硬度较高的原因。
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引用次数: 2
Optimization of transversal flow stress and strain and weld seam microstructure analysis in butt-HDPE friction stir welded plates 对接hdpe搅拌摩擦焊板横向应力应变优化及焊缝显微组织分析
IF 1.2 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2020-01-01 DOI: 10.1051/meca/2020047
K. Hamrouni, M. Rezgui, A. Trabelsi, Z. Kiss, R. Nasri
The paper aims to optimize the characteristic performances of friction stir welding of high-density polyethylene in order to predict failure modes in weld nugget and interfacial zones. Three replicates of a face central composite design are employed to estimate the effects of parameters process, on the transversal flow stress and strain of the seam and to understand root causes, which may lead to structural defects such as the onset of cracks and the seam-base metal rupture. The study findings disclose that maximum responses are obtained when the tool rotation speed is set middle and both the feed rate and the plunged surface are set high. The transversal flow stress of the welded seam is found highly sensitive to the plunged surfaces and at a lesser degree to the rotation speed, whereas, the transversal flow strain of the welded seam is mostly sensitive to the rotation speed and at a lesser degree to the plunged surfaces. For the microscopic analysis, it is shown that at low rotation speed, there exist four structural layers in the transition zone between the seam and the base material giving rise to the formation of a continuous line of cracks that can initiate structure failure.
本文旨在优化高密度聚乙烯搅拌摩擦焊接的特性性能,以预测焊缝熔核和界面区域的破坏模式。采用三次面中心复合设计的重复试验来评估参数工艺对焊缝横向流动应力和应变的影响,并了解可能导致裂缝出现和焊缝-母材破裂等结构缺陷的根本原因。研究结果表明,当刀具转速设置为中等,进给速度和倾入面都设置为高时,响应最大。焊缝的横向流动应力对倾角高度敏感,对转速的影响较小;而焊缝的横向流动应变对转速的影响最大,对倾角的影响较小。微观分析表明,在低转速下,在焊缝与基体之间的过渡区存在四个结构层,形成连续的裂纹线,从而引发结构破坏。
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引用次数: 1
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