Projecto de equipamento de rotação de moldes de grande porte com recurso ao método de elementos finitos

A fabricação de moldes é uma actividade que se desenvolve em Portugal há várias décadas, com qualidade reconhecida mundialmente. A indústria automóvel é um dos principais destinos de grande parte dos moldes produzidos em Portugal. Algumas das peças produzidas nesses moldes possuem dimensões apreciáveis, tendo em conta o peso e dimensão média das peças injectadas em plástico. São exemplo disso os pára-choques dos automóveis e o tabliê. A produção dos moldes para estas peças é complexa, implicando um longo tempo de maquinagem e a manipulação dos moldes em diferentes fases, com vista ao acesso a todas as faces do molde. A IGM – Indústria Global de Moldes, SA. é a empresa responsável pela produção dos moldes para peças de média dimensão dentro do Grupo SIMOLDES. Atendendo à necessidade permanente de rodar a 90o moldes de grande porte, que podem apresentar pesos na ordem das 10 a 30 toneladas, e não existindo no mercado qualquer solução adaptável a esta necessidade, a empresa entendeu por bem levar a efeito o projecto desse equipamento, atendendo ao compromisso custo-benefício que torne viável a realização prática do mesmo. Após os esboços iniciais e uma discussão interactiva e iterativa com a empresa, foram analisadas as diferentes soluções entendidas como viáveis, tendo sido escolhido um dos anteprojectos realizados. Foram ainda discutidas as diversas alternativas de accionamento. Com base nesse anteprojecto, a estrutura foi optimizada e verificada através do Método de Elementos Finitos, tendo sido elaborado o projecto final, com o grau de detalhe necessário à sua fabricação e implementação na empresa.

Optimização da orçamentação para operações complexas de maquinagem

As operações de maquinagem de componentes tendo em vista os mais diversos sectores de actividade têm registado um crescimento sustentável em Portugal, devido a inúmeros factores como a modernização do nosso parque de equipamentos, a competitividade da nossa mão-de-obra e a qualidade patenteada pelos serviços prestados pelas nossas empresas, cada vez mais conscientes da importância que os clientes internacionais assumem na sua actividade, da necessidade de cumprimento dos compromissos estabelecidos em termos de prazo de entrega e da procura incessante de novos mercados e sectores de actividade que potenciem um valor-acrescentado mais atractivo do produto. As solicitações do mercado no sector de actividade de prestação de serviços de maquinagem são imensas, e sempre extremamente condicionadas em termos de tempo de resposta. Por outro lado, os prestadores deste tipo de serviço ficam limitados por duas situações-limite: uma orçamentação por defeito poderá conduzir a prejuízos indesejáveis, ou mesmo incomportáveis, enquanto um preço excessivamente elevado poderá afastar o possível cliente e impedir a conquista de um novo projecto. Orçamentar depressa e bem é uma operação complexa, que requer uma análise muito cuidada dos desenhos fornecidos pelo possível cliente, delinear a sequência operatória, salvaguardar as tolerâncias e tipos de acabamento pretendidos, minimizar as operações de fixação e seleccionar as melhores ferramentas para efectuar o trabalho pretendido. Este trabalho, desenvolvido para a TECNOLANEMA, empresa do Grupo LANEMA, que é especialista na produção de peças em plástico técnico e em ligas de alumínio para os mais diversos sectores de actividade, tanto em Portugal como no Estrangeiro. O trabalho desenvolvido visou criar uma aplicação informática que permitisse elaborar orçamentos de forma rápida e precisa, através de determinados factores-chave previamente estudados. O projecto foi concluído e testado com sucesso na empresa.

Mikrokanavareaktorin käyttö reaktorina eksotermisissä reaktioissa

Tämän työn kirjallisuusosassa on tarkasteltumikrokanavareaktoria teknisestä näkökulmasta. Kirjallisuusosassa käydään läpi mikrokanavareaktorin rakennetta, valmistajia sekä valmistusmenetelmiä. Toisena näkökulmana kirjallisuusosassa tarkastellaan mikrokanavareaktorin soveltuvuutta eksotermisiin reaktioihin. Eksotermisista reaktioista tarkasteluun valittiin FIscher-Tropsch synteesi, jota tarkastellaan tässä työssä tarkemmin. Lopuksi kirjallisuusosassa käsitellään mikrokanavareaktoritekniikkalla saavutettavia etuja sekä mikrokanavareaktoritekniikkaan liittyviä ongelmia. Soveltavassa osassa tarkasteltiin mikrokanavareaktorin soveltuvuutta Fischer-Tropsch synteesiin käyttäen apuna Aspen+ simulointiohjelmaa. Aspen+ simulointiohjelman avulla nähtiin mikrokanavareaktorin koon vaikutus Fischer-Tropsh synteesiin. Lisäksi soveltavassa osassa suunniteltiin simulointituloksiin sekä kirjallisuudesta saatuihin tietoihin perustuva teollisuuden mittakaavaan soveltuva mikrokanavareaktori. Lopuksi työssä pohdittiin mikrokanavareaktoritekniikkaa kirjallisuus sekä sekä soveltavan osan perusteella.

Mechanical Design of Hydraulic Vise

The general task of clamping devise is to connect the parts to the machining centers so that the work piece could be fixed on its position during the whole machining process. Additionally, the work piece should be clamped easily and rapidly by the machine users. The purpose of this Master’s thesis project was to develop a product design and find out the dimensioning of a hydraulic vise system for Astex Engineering OY, which was taking care of the general principles of product design and development during the design process. Throughout the process, the needs of manufacturing and assembling were taken into consideration for the machinability and minimization of the cost of manufacturing. The most critical component of the clamping devise was modeled by FEM for the issue of strength requirements. This 3D model was created with Solidworks and FEM-analysis was done with Cosmos software. As the result of this design work, a prototype of the hydraulic vise was manufactured for Astex Engineering OY and the practical test.

Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Stiffness based trajectory planning and feedforward based vibration suppression control of parallel robot machines

The dissertation proposes two control strategies, which include the trajectory planning and vibration suppression, for a kinematic redundant serial-parallel robot machine, with the aim of attaining the satisfactory machining performance. For a given prescribed trajectory of the robot's end-effector in the Cartesian space, a set of trajectories in the robot's joint space are generated based on the best stiffness performance of the robot along the prescribed trajectory. To construct the required system-wide analytical stiffness model for the serial-parallel robot machine, a variant of the virtual joint method (VJM) is proposed in the dissertation. The modified method is an evolution of Gosselin's lumped model that can account for the deformations of a flexible link in more directions. The effectiveness of this VJM variant is validated by comparing the computed stiffness results of a flexible link with the those of a matrix structural analysis (MSA) method. The comparison shows that the numerical results from both methods on an individual flexible beam are almost identical, which, in some sense, provides mutual validation. The most prominent advantage of the presented VJM variant compared with the MSA method is that it can be applied in a flexible structure system with complicated kinematics formed in terms of flexible serial links and joints. Moreover, by combining the VJM variant and the virtual work principle, a systemwide analytical stiffness model can be easily obtained for mechanisms with both serial kinematics and parallel kinematics. In the dissertation, a system-wide stiffness model of a kinematic redundant serial-parallel robot machine is constructed based on integration of the VJM variant and the virtual work principle. Numerical results of its stiffness performance are reported. For a kinematic redundant robot, to generate a set of feasible joints' trajectories for a prescribed trajectory of its end-effector, its system-wide stiffness performance is taken as the constraint in the joints trajectory planning in the dissertation. For a prescribed location of the end-effector, the robot permits an infinite number of inverse solutions, which consequently yields infinite kinds of stiffness performance. Therefore, a differential evolution (DE) algorithm in which the positions of redundant joints in the kinematics are taken as input variables was employed to search for the best stiffness performance of the robot. Numerical results of the generated joint trajectories are given for a kinematic redundant serial-parallel robot machine, IWR (Intersector Welding/Cutting Robot), when a particular trajectory of its end-effector has been prescribed. The numerical results show that the joint trajectories generated based on the stiffness optimization are feasible for realization in the control system since they are acceptably smooth. The results imply that the stiffness performance of the robot machine deviates smoothly with respect to the kinematic configuration in the adjacent domain of its best stiffness performance. To suppress the vibration of the robot machine due to varying cutting force during the machining process, this dissertation proposed a feedforward control strategy, which is constructed based on the derived inverse dynamics model of target system. The effectiveness of applying such a feedforward control in the vibration suppression has been validated in a parallel manipulator in the software environment. The experimental study of such a feedforward control has also been included in the dissertation. The difficulties of modelling the actual system due to the unknown components in its dynamics is noticed. As a solution, a back propagation (BP) neural network is proposed for identification of the unknown components of the dynamics model of the target system. To train such a BP neural network, a modified Levenberg-Marquardt algorithm that can utilize an experimental input-output data set of the entire dynamic system is introduced in the dissertation. Validation of the BP neural network and the modified Levenberg- Marquardt algorithm is done, respectively, by a sinusoidal output approximation, a second order system parameters estimation, and a friction model estimation of a parallel manipulator, which represent three different application aspects of this method.

Analysis of System Signals Based on Cross Recurrence Method for System Dynamics Characterization

Natural systems are inherently non linear. Recurrent behaviours are typical of natural systems. Recurrence is a fundamental property of non linear dynamical systems which can be exploited to characterize the system behaviour effectively. Cross recurrence based analysis of sensor signals from non linear dynamical system is presented in this thesis. The mutual dependency among relatively independent components of a system is referred as coupling. The analysis is done for a mechanically coupled system specifically designed for conducting experiment. Further, cross recurrence method is extended to the actual machining process in a lathe to characterize the chatter during turning. The result is verified by permutation entropy method. Conventional linear methods or models are incapable of capturing the critical and strange behaviours associated with the dynamical process. Hence any effective feature extraction methodologies should invariably gather information thorough nonlinear time series analysis. The sensor signals from the dynamical system normally contain noise and non stationarity. In an effort to get over these two issues to the maximum possible extent, this work adopts the cross recurrence quantification analysis (CRQA) methodology since it is found to be robust against noise and stationarity in the signals. The study reveals that the CRQA is capable of characterizing even weak coupling among system signals. It also divulges the dependence of certain CRQA variables like percent determinism, percent recurrence and entropy to chatter unambiguously. The surrogate data test shows that the results obtained by CRQA are the true properties of the temporal evolution of the dynamics and contain a degree of deterministic structure. The results are verified using permutation entropy (PE) to detect the onset of chatter from the time series. The present study ascertains that this CRP based methodology is capable of recognizing the transition from regular cutting to the chatter cutting irrespective of the machining parameters or work piece material. The results establish this methodology to be feasible for detection of chatter in metal cutting operation in a lathe.

Estudo da sinterização de cavacos de aço ferritico

This research studies the sintering of ferritic steel chips from the machining process. Were sintered metal powder obtained from machining process chips for face milling of a ferritic steel. The chip was produced by machining and characterized by SEM and EDS, and underwent a process of high energy mill powder characterized also by SEM and EDS. Were constructed three types of matrixes for uniaxial compression (relation l / d greater than 2.5). The differences in the design of the matrixes were essentially in the direction of load application, which for cylindrical case axial direction, while for the rectangular arrays, the longer side. Two samples were compressed with different geometries, a cylindrical and rectangular with the same compaction pressure of 700 MPa. The samples were sintered in a vacuum resistive furnace, heating rate 20 °C / min., isotherm 1300 °C for 60 minutes, and cooling rate of 25 °C / min to room temperature. The starting material of the rectangular sample was further annealed up to temperature of 800 ° C for 30 min. Sintered samples were characterized by scanning electron microscopy, optical microscopy and EDS. The sample compressed in the cylindrical matrix did not show a regular density reflecting in the sintered microstructure revealed by the irregular geometry of the pores, characterizing that the sintering was not complete, reaching only the second phase. As for the specimen compacted in the rectangular array, the analysis performed by scanning electron microscopy, optical microscopy and EDS indicate a good densification, and homogeneous microstructure in their full extent. Additionally, the EDS analyzes indicate no significant changes in chemical composition in the process steps. Therefore, it is concluded that recycling of chips, from the processed ferritic steel is feasible by the powder metallurgy. It makes possible rationalize raw material and energy by manufacture of known properties components from chips generated by the machining process, being benefits to the environment

Influência na qualidade final de metais retificados através da variação da velocidade de mergulho

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Fresamento com ar quente: uma proposta para minimizar a formação de trincas térmicas em ferramentas de metal duro

This work presents the results, analyses and conclusions about a study carried out with objective of minimizing the thermal cracks formation on cemented carbide inserts during face milling. The main focus of investigation was based on the observation that milling process is an interrupted machining process, which imposes cyclic thermal loads to the cutting tool, causing frequent stresses changes in its superficial and sub-superficial layers. These characteristics cause the formation of perpendicular cracks from cutting edge which aid the cutting tool wear, reducing its life. Several works on this subject emphasizing the thermal cyclic behavior imposed by the milling process as the main responsible for thermal cracks formation have been published. In these cases, the phenomenon appears as a consequence of the difference in temperature experienced by the cutting tool with each rotation of the cutter, usually defined as the difference between the temperatures in the cutting tool wedge at the end of the cutting and idle periods (T factor). Thus, a technique to minimize this cyclic behavior with objective of transforming the milling in an almost-continuous process in terms of temperature was proposed. In this case, a hot air stream was applied into the idle period, during the machining process. This procedure aimed to minimize the T factor. This technique was applied using three values of temperature from the hot air stream (100, 350 e 580 oC) with no cutting fluid (dry condition) and with cutting fluid mist (wet condition) using the hot air stream at 580oC. Besides, trials at room temperature were carried out. Afterwards the inserts were analyzed using a scanning electron microscope, where the quantity of thermal cracks generated in each condition, the wear and others damages was analyzed. In a general way, it was found that the heating of the idle period was positive for reducing the number of thermal cracks during face milling with cemented carbide inserts. Further, the cutting fluid mist application was effective in reducing the wear of the cutting tools.

Estudo comparativo entre a agressividade superficial obtida na retificação com rebolos de óxido de alumínio e CBN, fabricados com ligantes resinóide e vitrificado

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Influência da velocidade de avanço do rebolo nos danos de aços endurecidos retificados

A tendência mundial é o aumento da produtividade e da produção de peças cada vez mais sofisticadas, com elevado grau de tolerância geométrica, dimensional, com bom acabamento superficial, com baixo custo. A retificação é responsável pelo acabamento final no processo de usinagem de um material. No entanto, danos gerados nesta fase de produção comprometem todos os recursos utilizados nas fases anteriores. Grande parte dos problemas ocorridos na retificação deve-se à enorme temperatura gerada pelo processo devido às condições de usinagem. Atribui-se à velocidade de avanço, que está diretamente relacionada com a produtividade, os danos ocorridos na retificação, ficando esta variável limitada até valores que não proporcione danos. Neste trabalho, através da variação da velocidade de avanço no processo de retificação cilíndrica externa do aço ABNT D6, racionalizando a aplicação de dois fluidos de corte e usando um rebolo superabrasivo de CBN (nitreto de boro cúbico) com ligante vitrificado, avaliou-se a influência da velocidade de avanço nos danos superficiais de aços endurecidos. Os resultados permitiram concluir que a velocidade de avanço associada a uma eficiente refrigeração e lubrificação, não provocou danos térmicos (queima, trincas, tensões de tração) ao material. Tensões residuais e a rugosidade do material retificado apresentaram uma correlação com as condições de usinagem. O trabalho concluiu ser capaz um aumento dos índices de produtividade sem provocar danos nos componentes retificados.

Influence of the grinding wheel's dive speed on the damage of rectified hardened steels

The world tendency is the increase of the productivity and the production of pieces more and more sophisticated, with high degree of geometric and dimensional tolerances, with good surface finish and low cost. Rectification is responsible for the final finish in the machining process of a material. However, damages generated in this production phase affect all the resources used in the previous processes. Great part of the problems happennig in the rectification process is due to the enormous temperature generated in this activity because of the machining conditions. The dive speed, which is directly related to the productivity, is considered responsible for the damages that occur during rectification, limiting its values to those that do not cause such damages. In this work, through the variation of the dive speed in the process of cylindrical grinding of type ABNT D6 steel, rationalizing the application of two cutting fluids and using a CBN (cubic boron nitrate) abrasive wheel with vitrified blond, the influence of the dive speed on the surface damages of hardened steels was evaluated. The results allowed to say that the dive speed, associated to an efficient cooling and lubrication, didn't provoke thermal damages (including heated zones, cracks and tension stresses) to the material. Residual stresses and the roughness of rectified materials presented a correlation with the machining conditions. The work concluded that it is possible to increase the productivity without provoking damages in the rectified components.

Estudo comparativo do desempenho de rebolos com grãos superabrasivos e convencionais

Grinding is a precision machining process which is widely used in the manufacture of components requiring fine tolerances and smooth surfaces. There are several imput parameters (cutting conditions, cutting fluid and grinding wheel type used, dressing conditions etc.) which can affect the process variables (tangential and normal cutting forces, roughness, grinding temperatures, G ratio, etc.) leading to differences in the roughness, in the surface integrity and in the mechanical strength of the ground component. Consequently, the imput parameters must be controlled in order to insure the workpiece final quality. This paper presents a comparative evaluation of the performance of two types of grinding wheels [a conventional (Al2O3) and a superabrasive (CBN)] when grinding a VC131 steel, by the analysis of specific process variables when varying the cutting conditions. Highest values of G ratio and lowest workpiece roughness was observed when using CBN grinding wheels. This confirms the global trend of replacement of alumina grinding wheels by CBN, when grinding DTG (difficult to grind) materials.

Grinding of hardened steels using optimized cooling

Grinding - the final machining process of a workpiece - requires large amounts of cutting fluids for the lubrication, cooling and removal of chips. These fluids are highly aggressive to the environment. With the technological advances of recent years, the worldwide trend is to produce increasingly sophisticated components with very strict geometric and dimensional tolerances, good surface finish, at low costs, and particularly without damaging the environment. The latter requirement can be achieved by recycling cutting fluids, which is a costly solution, or by drastically reducing the amount of cutting fluids employed in the grinding process. This alternative was investigated here by varying the plunge velocity in the plunge cylindrical grinding of ABNT D6 steel, rationalizing the application of two cutting fluids and using a superabrasive CBN (cubic boron nitride) grinding wheel with vitrified binder to evaluate the output parameters of tangential cutting force, acoustic emission, roughness, roundness, tool wear, residual stress and surface integrity, using scanning electron microscopy (SEM) to examine the test specimens. The performance of the cutting fluid, grinding wheel and plunge velocity were analyzed to identify the best machining conditions which allowed for a reduction of the cutting fluid volume, reducing the machining time without impairing the geometric and dimensional parameters, and the surface finish and integrity of the machined components.