Abstract Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).
{"title":"Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK","authors":"B. Fernini, M. Temmar, Yoshihiro Kai, M. M. Noor","doi":"10.2478/mme-2018-0117","DOIUrl":"https://doi.org/10.2478/mme-2018-0117","url":null,"abstract":"Abstract Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1497 - 1510"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47081566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This text covers optimization of an inverted pendulum control system with friction compensator. The control system is tuned with respect to a performance index based on the novel method of the Largest Lyapunov Exponent estimation. The detailed description of the method is provided. Model of the control object is presented. A simple controller is proposed. Two control systems are compared: the one with compensator and the one without. Parameters of both controllers are optimized with respect to the novel criterion by means of the Differential Evolution method. Results of numerical simulations are presented. It is shown that the new criterion can be successfully applied to both: typical linear regulators and controllers with compensators.
{"title":"Optimization of the Inverted Pendulum Controller with Friction Compensation by Means of the New Method of Lyapunov Exponents Estimation","authors":"M. Balcerzak","doi":"10.2478/mme-2018-0075","DOIUrl":"https://doi.org/10.2478/mme-2018-0075","url":null,"abstract":"Abstract This text covers optimization of an inverted pendulum control system with friction compensator. The control system is tuned with respect to a performance index based on the novel method of the Largest Lyapunov Exponent estimation. The detailed description of the method is provided. Model of the control object is presented. A simple controller is proposed. Two control systems are compared: the one with compensator and the one without. Parameters of both controllers are optimized with respect to the novel criterion by means of the Differential Evolution method. Results of numerical simulations are presented. It is shown that the new criterion can be successfully applied to both: typical linear regulators and controllers with compensators.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"959 - 966"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47869113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract In recent years, among all the aluminium alloys, Al6061 is gaining much popularity as a matrix material to prepare MMCs owing to its excellent mechanical properties and good corrosion resistance. Fly ash cenospheres are primarily a by-product in power generation plants. Research is in progress to effectively use this byproduct to produce new usable and profitable materials as they pose major disposal and environmental problems. In the light of the above, the present investigation is aimed at development of metal coated cenosphere reinforced Al6061 composites and to characterize their mechanical properties. Al6061 nickel coated composites have been prepared by liquid metallurgy route by varying percentage of nickel coated cenospheres between 2–10% by weight in steps of 2%. Density, hardness and tensile behaviour of the composites is carried out. It is observed that there is an increase in the values of hardness, density of the composite with an increasing percentage of the nickel coated cenosphere reinforcements. There is also a notable increase in the tensile strength as well as reduction in ductility of the prepared composite. Fractographs to indicate the behaviour of the composites have also been depicted in the paper.
{"title":"Mechanical Property Evaluation Aluminium 6061 Nickel Coated Cenosphere Composites","authors":"A. Ahamed, T. Prashanth","doi":"10.2478/mme-2018-0108","DOIUrl":"https://doi.org/10.2478/mme-2018-0108","url":null,"abstract":"Abstract In recent years, among all the aluminium alloys, Al6061 is gaining much popularity as a matrix material to prepare MMCs owing to its excellent mechanical properties and good corrosion resistance. Fly ash cenospheres are primarily a by-product in power generation plants. Research is in progress to effectively use this byproduct to produce new usable and profitable materials as they pose major disposal and environmental problems. In the light of the above, the present investigation is aimed at development of metal coated cenosphere reinforced Al6061 composites and to characterize their mechanical properties. Al6061 nickel coated composites have been prepared by liquid metallurgy route by varying percentage of nickel coated cenospheres between 2–10% by weight in steps of 2%. Density, hardness and tensile behaviour of the composites is carried out. It is observed that there is an increase in the values of hardness, density of the composite with an increasing percentage of the nickel coated cenosphere reinforcements. There is also a notable increase in the tensile strength as well as reduction in ductility of the prepared composite. Fractographs to indicate the behaviour of the composites have also been depicted in the paper.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1381 - 1388"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44029653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract The study of reliability is an important part of engineering design process which forms the basis of analysis and judgment on future performance of the product. Since the future couldn’t be predicted with an absolute certainty, the nature of reliability would lead us to probability theory and uncertainty modeling. The quantitative calculation of this parameter for mechanical systems within different steps of production requires an analytical and systematic approach which has been focused in this paper. The proposed approach has been applied for calculating reliability of a clutch system as a case study. The system reliability in this work is determined based on the block diagram method as a function of individual component reliabilities which are calculated by statistical analysis of life test results. Using Weibull model, reliability of a typical clutch system has been formulated based on durability bench test and results has been interpreted to estimate field reliability.
{"title":"Analytical Approach to Product Reliability Estimation Based on Life Test Data for an Automotive Clutch System","authors":"Hamed Niknafs, Morteza Faridkhah, Camelia Kazemi","doi":"10.2478/mme-2018-0065","DOIUrl":"https://doi.org/10.2478/mme-2018-0065","url":null,"abstract":"Abstract The study of reliability is an important part of engineering design process which forms the basis of analysis and judgment on future performance of the product. Since the future couldn’t be predicted with an absolute certainty, the nature of reliability would lead us to probability theory and uncertainty modeling. The quantitative calculation of this parameter for mechanical systems within different steps of production requires an analytical and systematic approach which has been focused in this paper. The proposed approach has been applied for calculating reliability of a clutch system as a case study. The system reliability in this work is determined based on the block diagram method as a function of individual component reliabilities which are calculated by statistical analysis of life test results. Using Weibull model, reliability of a typical clutch system has been formulated based on durability bench test and results has been interpreted to estimate field reliability.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"845 - 864"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46337452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract In this work, the influence of carbon fiber surface treatment on mechanical properties of unsaturated polyester was investigated. Two approaches have been used in the surface treatment; the first is the desizing of the carbon fiber by the release of the epoxy layer. The second is with the release of epoxy layer and etching the fibers. It was concluded that both methods give good results on adhesion between the matrix and the fibers. It is found that the treatment of carbon fibers is efficient and greatly improves the CFRP handress. The tensile strength of composite materials increases by 30% for etched carbon fibers compared to untreated carbon fibers.SEM images confirm the results obtained.
{"title":"Improvement of the Interfacial Adhesion Between Fiber and Matrix","authors":"Benaoum Abdelhak, M. Noureddine, Mahmoudi Hacen","doi":"10.2478/mme-2018-0069","DOIUrl":"https://doi.org/10.2478/mme-2018-0069","url":null,"abstract":"Abstract In this work, the influence of carbon fiber surface treatment on mechanical properties of unsaturated polyester was investigated. Two approaches have been used in the surface treatment; the first is the desizing of the carbon fiber by the release of the epoxy layer. The second is with the release of epoxy layer and etching the fibers. It was concluded that both methods give good results on adhesion between the matrix and the fibers. It is found that the treatment of carbon fibers is efficient and greatly improves the CFRP handress. The tensile strength of composite materials increases by 30% for etched carbon fibers compared to untreated carbon fibers.SEM images confirm the results obtained.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"885 - 894"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45069855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract We introduce in this part the method to obtain the literal expansion of the mutual distance between two planets of the solar system raised to any negative real integer.
摘要:本文介绍了将太阳系两行星之间的相互距离提高到任意负实整数的字面展开的方法。
{"title":"The Expansion of the Inverse of the Mutual Distance Between Two Planets Raised to Any Real Integer Using Taylor Theorem and Elliptic Expansions Part I: Theoretical Results","authors":"B. Elmabsout, O. Kamel, A. S. Soliman","doi":"10.2478/mme-2018-0092","DOIUrl":"https://doi.org/10.2478/mme-2018-0092","url":null,"abstract":"Abstract We introduce in this part the method to obtain the literal expansion of the mutual distance between two planets of the solar system raised to any negative real integer.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1175 - 1196"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45762013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This paper presents an experimental confirmation of the novel method of friction modelling and compensation. The method has been applied to an inverted pendulum control system. The practical procedure of data acquisition and processing has been described. Training of the neural network friction model has been covered. Application of the obtained model has been presented. The main asset of the presented model is its correctness in a wide range of relative velocities. Moreover, the model is relatively easy to build.
{"title":"Friction Compensation in the Inverted Pendulum Controller by Means of a Neural Network","authors":"M. Balcerzak","doi":"10.2478/mme-2018-0068","DOIUrl":"https://doi.org/10.2478/mme-2018-0068","url":null,"abstract":"Abstract This paper presents an experimental confirmation of the novel method of friction modelling and compensation. The method has been applied to an inverted pendulum control system. The practical procedure of data acquisition and processing has been described. Training of the neural network friction model has been covered. Application of the obtained model has been presented. The main asset of the presented model is its correctness in a wide range of relative velocities. Moreover, the model is relatively easy to build.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"875 - 884"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46107318","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract The knurling of corrosion-resistant steel 95X18 (the nearest analog is AISI 440B, AISI 440C, AISI A756, DIN-1.4125, SUS440C, Z100CD17) simulation with finite element method is investigated in the paper. Diagram stresses, strains and displacement are calculated by using CAE system SolidWorks. Dependence of strengthening area on processing tools geometry and loaded force are investigated. We proposed the algorithm of knurling parameters optimization by using a computer simulation. The correlation between simulation and experimental data was found.
{"title":"Parameter's Optimization of Surface Plastic Deformation Corrosion-resistant Steel by Computer Simulation","authors":"A. M. Lasitsa, V. Churankin, V. V. Derkach","doi":"10.2478/mme-2018-0079","DOIUrl":"https://doi.org/10.2478/mme-2018-0079","url":null,"abstract":"Abstract The knurling of corrosion-resistant steel 95X18 (the nearest analog is AISI 440B, AISI 440C, AISI A756, DIN-1.4125, SUS440C, Z100CD17) simulation with finite element method is investigated in the paper. Diagram stresses, strains and displacement are calculated by using CAE system SolidWorks. Dependence of strengthening area on processing tools geometry and loaded force are investigated. We proposed the algorithm of knurling parameters optimization by using a computer simulation. The correlation between simulation and experimental data was found.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"991 - 998"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42220873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Abrasive Jet Machining (AJM) is the process of material removal from a work piece by the application of a high-speed stream of abrasive particles carried in a gas or air medium from a nozzle. The material removal process is mainly by erosion. The AJM will chiefly be used to cut shapes in hard and brittle materials like glass, ceramics etc. the machine will be automated to have 3 axes travel. The different components of AJM are Compressor, Vibrator, dehumidifier, Pressure Regulator, and Dust filter, Nozzle, Pressure gauge etc. The different components are selected after appropriate design calculations. In paper contains the Abrasive Jet Machine design and fabrication by using available hardware and software etc. taking into consideration of commercially available components. Care has been taken to use less fabricated components rather than directly procuring them, because, the lack of accuracy in fabricated components would lead to a diminished performance of the machine.
{"title":"Design and Fabrication of Abrasive Jet Machine (AJM)","authors":"P. V. R. Ramana Rao, A. Lakshumu Naidu, S. Kona","doi":"10.2478/mme-2018-0115","DOIUrl":"https://doi.org/10.2478/mme-2018-0115","url":null,"abstract":"Abstract Abrasive Jet Machining (AJM) is the process of material removal from a work piece by the application of a high-speed stream of abrasive particles carried in a gas or air medium from a nozzle. The material removal process is mainly by erosion. The AJM will chiefly be used to cut shapes in hard and brittle materials like glass, ceramics etc. the machine will be automated to have 3 axes travel. The different components of AJM are Compressor, Vibrator, dehumidifier, Pressure Regulator, and Dust filter, Nozzle, Pressure gauge etc. The different components are selected after appropriate design calculations. In paper contains the Abrasive Jet Machine design and fabrication by using available hardware and software etc. taking into consideration of commercially available components. Care has been taken to use less fabricated components rather than directly procuring them, because, the lack of accuracy in fabricated components would lead to a diminished performance of the machine.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1471 - 1482"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46853681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Influence of dicarboxylic acid dopant on growth and characterization of ADP crystal were grown by slow evaporation technique at room temperature. The transparent (ADFU) crystals are yield after a period of 15 days. The X-ray diffraction study reveals that ADFU crystal belongs to tetragonal system. The vibrational modes of grown crystal were confirmed by FTIR spectral analysis. In UV-Vis spectral analysis the absorbance is low than pure ADP which reveals that NLO active of grown crystal is more. The emission spectrum of grown crystal was studied using fluorescence spectral analysis. The nonlinear optical property was analyzed using Kurtz-Perry technique, the SHG efficiency of ADFU crystal has much higher than that of pure ADP. The mechanical behavior includes binding nature and strength for the grown crystal was investigated by Vickers microhardness test.
{"title":"Effect of Dicarboxylic Acid Dopant on ADP Crystal by Slow Evaporation Method","authors":"J. Aarthi, S. Gowri, M. Sornambal","doi":"10.2478/mme-2018-0097","DOIUrl":"https://doi.org/10.2478/mme-2018-0097","url":null,"abstract":"Abstract Influence of dicarboxylic acid dopant on growth and characterization of ADP crystal were grown by slow evaporation technique at room temperature. The transparent (ADFU) crystals are yield after a period of 15 days. The X-ray diffraction study reveals that ADFU crystal belongs to tetragonal system. The vibrational modes of grown crystal were confirmed by FTIR spectral analysis. In UV-Vis spectral analysis the absorbance is low than pure ADP which reveals that NLO active of grown crystal is more. The emission spectrum of grown crystal was studied using fluorescence spectral analysis. The nonlinear optical property was analyzed using Kurtz-Perry technique, the SHG efficiency of ADFU crystal has much higher than that of pure ADP. The mechanical behavior includes binding nature and strength for the grown crystal was investigated by Vickers microhardness test.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1261 - 1272"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45099358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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