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New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints 规划受加速度约束的 6-DOF 工业机器人复杂运动的新方法
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186361
Grzegorz Pająk
A method of trajectory planning with regards to joint velocity and acceleration constraints for industrial 6DOF manipulator is presented. The task of the robot is to move to specified location in the workspace passing through intermediate waypoints. The proposed algorithm can be used to plan the task of the robot by autonomous systems in smart factories eliminating human participation in the robot programing process. Opposite to similar approaches it does not assume the type of function describing the motion of the robot. The trajectories generated using the proposed approach are smooth and provide smooth velocities and continuous joint accelerations. The motion is planned in such a way to fulfill joint velocity and acceleration constraints. Fulfillment of velocity limitations is accomplished by perturbing the manipulator motion close to velocity limits. To satisfy acceleration constraints a trajectory scaling approach carried out in limited periods of time is used. The results of the research are illustrated by simulations and experiments, in which an analysis of the method of performing robot tasks carried out using built-in algorithms and presented methods are performed.
本文介绍了一种针对工业 6DOF 机械手的关节速度和加速度约束的轨迹规划方法。机械手的任务是移动到工作空间中的指定位置,途中经过中间航点。所提出的算法可用于智能工厂中自主系统对机器人任务的规划,无需人类参与机器人编程过程。与类似方法不同的是,它不假定描述机器人运动的函数类型。使用所提出的方法生成的轨迹是平滑的,能提供平滑的速度和连续的关节加速度。运动规划的方式是满足关节速度和加速度限制。通过对接近速度极限的机械手运动进行扰动来实现速度限制。为了满足加速度限制,采用了在有限时间内进行轨迹缩放的方法。研究结果通过模拟和实验进行了说明,其中分析了使用内置算法和介绍的方法执行机器人任务的方法。
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引用次数: 0
Applying the Machine Learning Method to Improve Calibration Quality of TDR Measuring Technique 应用机器学习方法提高 TDR 测量技术的校准质量
Pub Date : 2024-06-01 DOI: 10.12913/22998624/187007
Dominika Mikušová, Zbigniew Suchorab, Magdalena Paśnikowska-Łukaszuk, Jacek Zaburko, Anton Trnik
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引用次数: 0
Effect of the Electrode Extension on the Geometry of Parts Made of 316LSi Steel by Wire Arc Additive Manufacturing Method (WAAM) 电极延伸对线弧快速成型法(WAAM)制造的 316LSi 钢零件几何形状的影响
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186362
Przemysław Połaski, D. Golański, P. Kołodziejczak, Anna Pakuła
Intensive research is currently being conducted on wire arc additive manufacturing (WAAM) processes. Previous studies have demonstrated the impact of current parameters on altering the structure and properties of 316L stain - less steel. However, there is a lack of comprehensive information in the literature regarding the influence of elec - trode extension length (contact to tube distance) on changes in the structure and geometry of parts made of 316L steel using the cold metal transfer (CMT) method. This parameter was often assumed to be constant in research experiments. The study aimed to determine how the length of the electrode extension affects the geometric prop - erties of steel walls produced in the WAAM CMT additive manufacturing process. The experiment used 316LSi stainless steel to build 3D structures in the shape of straight walls. The chosen shape of the parts yielded the most benefits for preparing samples from the resulting structures for destructive testing. The research demonstrated that the length of the electrode extension is a crucial parameter in the additive manufacturing process of structures using the WAAM method. Modifying the electrode extension length in the WAAM process with a CMT machine impacts the bead geometry and, consequently, the overall model geometry. A 6 mm increase in the electrode exten - sion length resulted in a model that was over 8 mm taller, despite using the same number of layers.
目前正在对线弧快速成型(WAAM)工艺进行深入研究。之前的研究已经证明了电流参数对改变 316L 染色钢结构和性能的影响。然而,关于电极延伸长度(接触到管子的距离)对使用冷金属转移(CMT)方法制造的 316L 钢零件结构和几何形状变化的影响,文献中缺乏全面的信息。在研究实验中,该参数通常被假定为常数。本研究旨在确定电极延伸长度如何影响 WAAM CMT 增材制造工艺生产的钢壁的几何属性。实验使用 316LSi 不锈钢制作直壁形状的三维结构。所选择的部件形状最有利于从所产生的结构中制备样品进行破坏性测试。研究表明,在使用 WAAM 方法进行结构增材制造的过程中,电极延伸长度是一个关键参数。在使用 CMT 机器的 WAAM 工艺中修改电极延伸长度会影响珠状物的几何形状,进而影响整个模型的几何形状。在使用相同层数的情况下,电极延伸长度增加 6 毫米后,模型高度增加了 8 毫米以上。
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引用次数: 0
Design and Optimization of Casting System for Integrated Longitudinal Beam and Tower Package Based on Al-Si Alloy 基于铝硅合金的一体化纵梁和塔架浇铸系统的设计与优化
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186012
Li Heng, Wang Nan, Xingyu Teng, Chai Zhen, Xiaoyong Zhu, Yucheng Wu
This study optimized the integrated die-casting of an aluminum alloy longitudinal beam and tower component using no heat-treated aluminum alloy. Leveraging material properties and part geometry, a pouring system was designed and refined through mold flow analysis. This optimized the velocity, temperature distribution, and air entrapment to reduce defects like shrinkage porosity. The optimized pouring parameters were 695 °C melt temperature, 210 °C initial mold temperature, and 4.9 m/s shot speed. This reduced shrinkage porosity by 10.4% versus the original de-sign. Die-casting trials with the optimized pouring system produced defect-free castings. The critical load-bearing section of the die casting had a yield strength of 184 MPa and elongation of 10.9%, which can meet the production requirements. In summary, based on the optimization of pouring system by mold flow analysis, by developing the integrated die casting process for aluminum alloy, not only are the defects eliminated, but also the castings with sufficient mechanical properties are produced.
本研究优化了铝合金纵梁和塔架部件的一体化压铸工艺,无需使用热处理铝合金。利用材料特性和零件几何形状,设计了浇注系统,并通过模流分析加以改进。这优化了速度、温度分布和空气截留,以减少收缩气孔等缺陷。优化后的浇注参数为 695 °C 熔体温度、210 °C 初始模具温度和 4.9 m/s 的注射速度。与最初的脱模相比,收缩气孔减少了 10.4%。使用优化浇注系统进行的压铸试验生产出了无缺陷铸件。压铸件关键承载部分的屈服强度为 184 兆帕,伸长率为 10.9%,可以满足生产要求。总之,在通过模流分析优化浇注系统的基础上,通过开发铝合金一体化压铸工艺,不仅消除了缺陷,还生产出了具有足够机械性能的铸件。
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引用次数: 0
Temperature Effect on Buckling Properties of Thin-Walled Composite Profile Subjected to Axial Compression 温度对轴向压缩薄壁复合材料型材屈曲特性的影响
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186607
K. Falkowicz, Michał Kuciej, Łukasz Świech
This study investigates the influence of temperature variations on the buckling properties of thin-walled omega-pro - files fabricated from carbon-epoxy composite materials. Utilizing a MTS testing machine, compression tests were conducted on these profiles at temperatures ranging from -20°C to 80°C, in 20°C increments. The primary objective was to assess how temperature fluctuations impact the buckling load and load-bearing capacity of these composite profiles under axial compression. The experimental setup allowed for precise measurement of load-displacement and load-deflection characteristics, and the critical load at which buckling initiation occurred. Observations revealed that the buckling resistance of the profiles exhibited a complex dependence on temperature. At lower temperatures, the composite material demonstrated enhanced stiffness and strength, marginally increasing buckling resistance. Conversely, at elevated temperatures, a noticeable degradation in mechanical properties was observed, leading to a reduced buckling load and altered failure modes. To complement the experimental findings, a comprehensive finite element (FE) analysis was conducted for sample in room temperature. The FE model, developed to replicate the experimental conditions closely, employed an eigenvalue-based approach to predict the buckling initiation and progression accurately. The presented results are the results of only preliminary tests and they will be expand about more samples number as well as to determine material properties for various temperatures.
本研究探讨了温度变化对碳-环氧复合材料制成的薄壁Ω-pro-锉弯曲性能的影响。利用 MTS 试验机,以 20°C 为增量,在 -20°C 至 80°C 的温度范围内对这些型材进行了压缩试验。主要目的是评估温度波动如何影响这些复合材料型材在轴向压缩下的屈曲载荷和承载能力。实验装置可以精确测量载荷-位移和载荷-挠度特性,以及发生屈曲的临界载荷。观察结果表明,型材的抗屈曲性与温度有着复杂的关系。在较低温度下,复合材料的刚度和强度增强,抗屈曲性略有提高。相反,在温度升高时,机械性能明显下降,导致屈曲载荷降低和失效模式改变。为了补充实验结果,我们对室温下的样品进行了全面的有限元(FE)分析。该有限元分析模型采用了基于特征值的方法,以准确预测屈曲的开始和发展。以上结果只是初步试验的结果,今后还将对更多的样品数量进行扩展,并确定不同温度下的材料特性。
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引用次数: 0
The Process of Bending Pipes for Components of Aircraft Frames And Trusses 飞机框架和桁架部件的弯管工艺
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186745
P. Bałon, E. Rejman, B. Kiełbasa, R. Smusz, Grzegorz Szeliga
Demand for bent pipe profiles in various industrial sectors is increasing due to considerations necessitating light - weight construction, safety, as well as space and cost savings. Lightweight construction is becoming increasingly important for economic and ecological reasons. This can be seen in the automotive and aerospace industries, as well as in civil engineering, where curved structures are often required. In order to reduce the weight of the aircraft, the aviation industry often uses spatial truss structures with bent elements. The challenge is to meet all of the stringent requirements regarding design, safety, structure, size, cost, etc., without compromising a structure’s stiffness. Profiles with complicated cross-sections and so-called tailored tubes are increasingly used in the production of automotive and aircraft structures (General Aviation). Pipe and profile bending technologies are constantly being improved upon to meet the growing expectations of customers and ensure greater process efficiency. Currently, efforts are being made to increase the level of automation in this area by combining the functionality of modern bending machines with the capabilities of industrial robots. CNC bending machines currently dominate the industrial pipe bending process. A technologically advanced bending machine allows for the production of increasingly complex shapes and profiles.
出于轻质结构、安全以及节省空间和成本等方面的考虑,各工业部门对弯管型材的需求不断增加。出于经济和生态方面的考虑,轻质结构正变得越来越重要。这一点在汽车和航空航天业以及土木工程中都可以看到,因为这些行业通常需要弯曲结构。为了减轻飞机重量,航空业经常使用带有弯曲构件的空间桁架结构。如何在不影响结构刚度的前提下,满足设计、安全、结构、尺寸、成本等方面的严格要求,是一项挑战。具有复杂截面的型材和所谓的定制管材越来越多地用于汽车和飞机结构(通用航空)的生产中。管材和型材弯曲技术不断得到改进,以满足客户日益增长的期望并确保更高的加工效率。目前,通过将现代折弯机的功能与工业机器人的能力相结合,正在努力提高该领域的自动化水平。数控弯管机目前在工业弯管工艺中占主导地位。技术先进的折弯机可以生产出越来越复杂的形状和轮廓。
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引用次数: 0
Stability of Thin-Walled Composite Structures with Closed Sections Under Compression 具有封闭截面的薄壁复合结构在压缩条件下的稳定性
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186473
Kuba Rosłaniec, P. Różyło
The purpose of the research was to analyze the experimental-numerical influence of the type of cross-section on the stability of thin-walled composite columns with closed (rectangular) cross-sections. The subject of the investigation was thin-walled composite structures made of CFRP composite (carbon fiber reinforced polymer), characterized by a closed rectangular cross-section shape of the profile and a identical ply configuration. In this study, experimental and numerical investigations of axially compressed columns were performed to determine the values of buckling loads and buckling forms. Experimental investigations were performed using a universal testing machine with an optical deformation measurement system. In parallel with the experimental tests, numerical simulations were made using the Finite Element Method (FEM). The numerical studies conducted using dedicated numerical models and the experimental studies made it possible to carry out a thorough analysis of the impact of the cross-sectional shape on the buckling phenomenon of the structure. The novelty of the present paper is the use of interdisciplinary testing methods to compare the effect of cross-sectional geometry on the stability of thin-walled composite columns.
研究的目的是分析横截面类型对封闭(矩形)横截面薄壁复合材料柱稳定性的实验-数值影响。研究对象是由 CFRP 复合材料(碳纤维增强聚合物)制成的薄壁复合材料结构,其特点是截面形状为封闭的矩形,且具有相同的层配置。本研究对轴向受压柱进行了实验和数值研究,以确定屈曲载荷值和屈曲形式。实验研究使用带有光学变形测量系统的万能试验机进行。在进行实验测试的同时,还使用有限元法(FEM)进行了数值模拟。通过使用专用数值模型进行的数值研究和实验研究,可以全面分析横截面形状对结构屈曲现象的影响。本文的新颖之处在于使用跨学科测试方法来比较横截面几何形状对薄壁复合材料柱稳定性的影响。
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引用次数: 0
Effect of Trenched Hemispherical Pin Fins on Cooling Performance of Heat Sink 沟槽式半球形销鳍对散热器冷却性能的影响
Pub Date : 2024-06-01 DOI: 10.12913/22998624/185505
A. Yousfi, Lahcene Bellahcene, Faris Alqurashi, Djamel Sahel, Mohamed Teggar, Abdelghani Laouer, Müslüm Arıcı, M. Kchaou
Pin fins have the potential to improve the thermal performance of various engineering devices. Modified pin fins could further increase their thermal performance in a passive way at lower cost. This study is aimed at numerically investigating the thermal performance of trenched hemispherical pin fins heat sink (THPFHS) and the influence of parameters including the trench number (N = 1, 3 and 5) and thickness (e = 1 to 5 mm). The simulations were performed using a computational fluid dynamics (CFD) software considering turbulent air flow conditions. Results showed that the use of aluminum fins fitted with one trench in the middle of the hemispherical pin fin considerably increased the local heat transfer. Furthermore, all studied configurations show high thermal performance factor (HTPF) compared with the conventional cylindrical pin fins heat sink (CPFHS). For this new configuration (THPFHS), Nu increases by 45% while the thermal resistance reduces by 42%, compared to the baseline case. On the other hand, this improved performance results in 50% pressure drop penalty. Moreover, the obtained results showed a significant improvement in the performance mainly at high Re.
针翅片具有改善各种工程设备热性能的潜力。经过改良的针翅散热片能以更低的成本进一步提高其被动散热性能。本研究旨在对沟槽式半球形针翅散热器(THPFHS)的热性能以及沟槽数(N = 1、3 和 5)和厚度(e = 1 至 5 毫米)等参数的影响进行数值研究。模拟使用计算流体动力学(CFD)软件进行,考虑了湍流气流条件。结果表明,使用在半球形针形鳍片中间装有一条沟槽的铝鳍片,可大大提高局部传热效果。此外,与传统的圆柱形针翅散热器(CPFHS)相比,所有研究的配置都显示出较高的热性能系数(HTPF)。对于这种新配置(THPFHS),与基线情况相比,Nu 增加了 45%,而热阻降低了 42%。另一方面,性能的提高导致压降减少 50%。此外,所获得的结果表明,主要在高 Re 条件下,性能得到了显著改善。
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引用次数: 0
Study of the Influence of Cavitation and Magnetic Field on the Change of Water Properties and its Purification in a Vibrating Machine with Determination of Drive Modes 研究气蚀和磁场对振动机中水性质变化及其净化的影响并确定驱动模式
Pub Date : 2024-06-01 DOI: 10.12913/22998624/186545
Anatolyi Hordieiev, Galyna Kalda, M. Pashechko, Andriy Hanzyuk, Vitaliy Tkachuk, Nazar Kostiuk
The paper presents the results of research into the influence of low-frequency sound and magnetic fields on the change in the properties of water and its purification in a vibrating machine with an eccentric drive, which allows obtaining a constant amplitude of oscillation when the frequency of oscillations of the drive is changed. A method and construc - tion of a vibrating machine for changing the properties of water and cleaning is proposed. Thanks to its reciprocating movement, and in the pulsation chamber and the nozzle, appropriate reactions take place. At certain oscillation fre - quencies, a cavitation cavity appears in the nozzle and the pulsation chamber, in which the process of splitting water molecules into active radicals takes place. At the same time, during the reciprocating movement of water through a non-magnetic nozzle, which is covered by permanent magnets, an additional effect of a variable magnetic field direc - tion is exerted on water, which strengthens the breaking of hydrogen bonds in water molecules. Visualization of the hydrocavitation process during operation of a vibrating machine with a transparent nozzle was studied. During the experiment, changes in water parameters were studied, i.e. changes in pH, changes in the oxidation-reduction poten - tial of treatment ORP and the total content of mineralization according to the TDS index with treatment time. The total concentration of dissolved salts decreases from 400 to 300 units, which also indicates an improvement in water quality. The rational frequency limits of the vibration drive of the machine are in the range from 18 to 23 Hz with an amplitude of oscillations of 0.002 m, and the ratio of its design parameters is determined: with a piston diameter of 0.1 m, it is recommended to use a diameter of the hole in the piston from 0.006 to 0.008 m.
本文介绍了关于低频声场和磁场对水的性质变化和水净化的影响的研究成果,该振动机带有偏心驱动装置,当驱动装置的振荡频率改变时,可以获得恒定的振荡幅度。本文提出了一种用于改变水的性质和清洁的振动机的方法和构造。由于其往复运动,在脉动室和喷嘴中会发生适当的反应。在一定的振荡频率下,喷嘴和脉动室中会出现一个空化腔,水分子在其中分裂成活性基团。同时,在水通过由永久磁铁覆盖的非磁性喷嘴的往复运动过程中,可变磁场方向会对水产生额外的影响,从而加强水分子中氢键的断裂。研究了带有透明喷嘴的振动机器运行过程中水蚀过程的可视化。在实验过程中,研究了水参数的变化,即 pH 值的变化、处理 ORP 的氧化还原电位的变化以及根据 TDS 指数计算的矿化物总含量随处理时间的变化。溶解盐的总浓度从 400 个单位下降到 300 个单位,这也表明水质有所改善。机器振动驱动的合理频率范围为 18 至 23 赫兹,振幅为 0.002 米,并确定了其设计参数的比率:活塞直径为 0.1 米时,建议使用 0.006 至 0.008 米的活塞孔直径。
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引用次数: 0
Screw Extrusion as a Scalable Technology for Manufacturing Carbon Nanotube-Filled Polylactide Composites 螺杆挤压是一种制造碳纳米管填充聚乳酸复合材料的可扩展技术
Pub Date : 2024-06-01 DOI: 10.12913/22998624/185961
D. Kaczor, Krzysztof Bajer, A. Raszkowska-Kaczor, G. Domek, P. Szroeder
The bottleneck in the widespread use of carbon multiwall nanotube polymer composites is the lack of manufacturing technology that can be used on an industrial scale. In this article, we describe a two-step composite manufacturing technology based on screw extrusion that produces composites characterizing with good dispersion of carbon nanotube filler in polylactide matrix. The first stage involved the fabrication of highly filled masterbatches of 25 wt% of carbon nanotubes. In the second stage, by screw extrusion of the masterbatch mixture with neat polymer, we obtained homogeneous composites with the target filler concentration. The resulting composites with nanotube content ranging from 0.1 to 2 wt%. Mechanical tests including static tension, tensile strength, tensile modulus, three-point bending and impact strength has shown that optimal concentration of the carbon nanotube filler is ranged between 0.5 and 1 wt%. Samples were examined also by SEM, FTIR-ATR, DSC and MFR methods.
碳多壁纳米管聚合物复合材料广泛应用的瓶颈在于缺乏可用于工业规模的制造技术。在本文中,我们介绍了一种基于螺杆挤压的两步复合材料制造技术,该技术可生产出碳纳米管填料在聚乳酸基体中良好分散的复合材料。第一阶段是制造碳纳米管含量为 25 wt% 的高填充母料。在第二阶段,通过螺杆挤压母料混合物与纯聚合物,我们获得了具有目标填料浓度的均匀复合材料。复合材料中的纳米管含量从 0.1% 到 2%不等。静态拉伸、拉伸强度、拉伸模量、三点弯曲和冲击强度等力学测试表明,碳纳米管填料的最佳浓度为 0.5 至 1 wt%。样品还通过 SEM、FTIR-ATR、DSC 和 MFR 方法进行了检测。
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引用次数: 0
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