Journal of The Brazilian Society of Mechanical Sciences and Engineering最新文献

{"title":"Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts","authors":"Mikhail Vladimirovich Vartanov, Van Linh Nguyen, Efim Alexandrovich Kogan, Van Luu Dao","doi":"10.1007/s40430-024-05090-8","DOIUrl":"https://doi.org/10.1007/s40430-024-05090-8","url":null,"abstract":"<p>When developing robotic assembly technology, it is necessary to use intelligent algorithms that control the assembly process online. One of the tasks that has been little studied so far is the assembly of cylindrical non-rigid parts. Mathematical models of the coupling stages during robotic assembly have been developed, which are necessary for the identification of the signals of the force-torque sensor. The obtained analytical solutions make it possible to determine the conditions for the occurrence of jamming of the non-rigid shaft during two-point contact during the coupling of the shaft with a rigid sleeve. The obtained values of deflections and angles of rotation allow us to correct the movement of the output link of the robot during the assembly operation. A mathematical model is presented for solving the problem of determining the current contact state during assembly using the support vector machine method when obtaining information about the position coordinates by the control system of an industrial robot and forces from a force-torque sensor. The algorithm was tested on an IRB-140 industrial robot with an IRC5 controller equipped with an FTN-AXIA80 SI500-20 Ethernet force-torque sensor from Schunk.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"10 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141884764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Turbulence phenomena due to pure wave over the submerged horizontal cylinder","authors":"Kapil Roy, Krishnendu Barman, Santosh Kumar Singh, Koustuv Debnath","doi":"10.1007/s40430-024-05083-7","DOIUrl":"https://doi.org/10.1007/s40430-024-05083-7","url":null,"abstract":"<p>Detailed investigation of turbulence flow characteristics due to mechanically generated regular water waves over a submerged cylinder is carried out. Regular waves are generated by a wave maker driven at three different frequencies. Prolonged measurements of the temporal variation in the instantaneous velocity in all three directions were carried out at multiple locations downstream of the cylinder. Particular attention is given to the change in flow characteristics downstream of the cylinder as a result of interaction of the surface wave and bottom mounted cylinder (radius, <i>R</i> = 2.5, 3.75, and 5.5 cm). The resulting flow field is studied in detail using quadrant and velocity spectra analysis. The results show that contributions to the total shear stress from ejection and sweep are prominent for the entire region. Furthermore, the probability density function is determined to describe the instantaneous turbulent velocity signal, which demonstrates a bimodal nature for bottom-normal velocity fluctuations and a sharp distribution for stream-wise velocity fluctuations. Power spectral density shows that the power spectral peak of surface wave is effectively reduced for both stream-wise and vertical velocities. In coastal zones, pipelines of cylindrical cross section are the most dependable and secure, economical, and efficient means of continually transporting natural gas and oil and this study will help in the improved design and implementation of such submarine pipelines.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"156 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141884766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Innovative tool condition classification: utilizing time–frequency moments as inputs for BiLSTM networks in milling processes","authors":"Achmad Zaki Rahman, Khairul Jauhari, Mahfudz Al Huda, Rusnaldy, Achmad Widodo","doi":"10.1007/s40430-024-05097-1","DOIUrl":"https://doi.org/10.1007/s40430-024-05097-1","url":null,"abstract":"<p>Milling is one of the most important processes in the manufacturing industry, and it uses rotating cutting tools to sculpt raw materials into intricate shapes and structures. However, tool wear and breakage present significant challenges influenced by various factors, such as machining parameters and tool fatigue, which directly impact surface quality, dimensional accuracy, and production costs. Therefore, monitoring cutter wear conditions is essential for ensuring milling process efficiency. This study proposes applying BiLSTM networks to classify end mill cutter conditions based on vibration signals. Significant improvements in classification accuracy are achieved by extracting features and employing spectrogram analysis. Specifically, using dual spectral features, instantaneous frequency and spectral entropy, increases the BiLSTM’s average accuracy from 86 to 98.5%, based on a comparative analysis of models trained with raw vibration signals and those trained with extracted spectral features. These findings demonstrate the effectiveness of the proposed method for real-time cutter condition monitoring in milling operations, offering potential benefits for manufacturing processes.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"48 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141884765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and analysis of rehabilitation hand based on segmented multi-chamber actuator","authors":"Huadong Zheng, Wei Bai, Caidong Wang, Xinjie Wang, Linxiao Liu","doi":"10.1007/s40430-024-05086-4","DOIUrl":"https://doi.org/10.1007/s40430-024-05086-4","url":null,"abstract":"<p>The soft rehabilitation hand has become a research hotspot in the field of robotics due to its good environmental adaptability and coupling safety. To make the soft rehabilitation hand have a large degree of freedom and strong driving force, as well as being comfortable and lightweight to wear, this paper designs a segmented multi-chamber actuator soft rehabilitation glove based on the principle of bionics. The actuators of different finger types and bone segments, which are also various in shape and size, are assembled in parallel to realize diverse movement forms of fingers. The motion deformation mechanism of the rehabilitation hand is studied, and the driving effect of the soft finger is analyzed with the help of ABAQUS finite element analysis software. 3D printing technology and pouring molding technology were used to make segmented soft rehabilitation finger physical prototype. The accuracy of the simulation model was verified by comparison and analysis of simulation data and experimental data. Simultaneously driving three brake joints through a rehabilitation single finger from 0 to 60 kPa, the motion trajectory and bending angles were tracked. A comparative analysis between simulation data and experimental data was conducted to validate the accuracy of the simulation model.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"39 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141884772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Limitations of poromechanical first-order computational homogenization for the representation of micro-scale volume changes","authors":"José Luís Medeiros Thiesen, Bruno Klahr, Thiago André Carniel, Eduardo Alberto Fancello","doi":"10.1007/s40430-024-05043-1","DOIUrl":"https://doi.org/10.1007/s40430-024-05043-1","url":null,"abstract":"<p>Poromechanical computational homogenization models relate the behavior of a macro-scale poroelastic continuum to phenomena occurring at smaller (and also poroelastic) spatial scales. This paper presents a comprehensive analysis of classical micro-scale boundary conditions for the pore pressure field, namely Taylor boundary condition (TBC-p), linear boundary condition (LBC-p), periodic boundary condition (PBC-p) and uniform boundary flux (UBF-p), in terms of their accuracy in representing primary (pore pressure) and dual (relative fluid velocity) fields in finite-strain multiscale poromechanical problems. A specific benchmark problem was formulated to investigate the performance of these approaches in scenarios where the rate of the volumetric Jacobian is nonzero, a condition of significant physical interest, especially in contexts such as swelling. Numerical results show that the UBF-p and PBC-p approaches effectively capture the behavior of direct numerical simulation (DNS) during the early time steps. However, deviations from the expected behavior occur when the representative volume element (RVE) undergoes significant volume changes. It is concluded that the observed limitations are due to the first-order nature of the multiscale model. This study highlights the need for more sophisticated computational homogenization poromechanical models that can accurately capture the complex interplay between fluid flow and deformation at different length scales. Second-order computational homogenization models can be alternatives to overcome the limitations of first-order multiscale poromechanical models by enriching the information coming from the macro-scale and relaxing the constraints on the fluid flow at the RVE boundaries.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"10 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141866831","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive coupled double-pendulum overhead crane control strategy with enhanced attitude suppression under initial input constraints","authors":"Dong Li, Tianhu Xie, Guowei Li, Songming Hu, Jingfeng Yao","doi":"10.1007/s40430-024-05084-6","DOIUrl":"https://doi.org/10.1007/s40430-024-05084-6","url":null,"abstract":"<p>During the actual transportation process, overhead cranes are always affected by the double-pendulum effect, resulting in excessive swinging angles that affect the control performance of the anti-swing system. Moreover, the viscous resistance, air resistance, and swing angle suppression force encountered during transportation have uncertainties and cannot be accurately fed back to the controller’s input, resulting in poor swing angle suppression capability. In order to suppress the undesired swinging of the hook and load, this paper proposes an adaptive coupling anti-swing control strategy with enhanced swing angle suppression under initial input constraints. Specifically, more system parameters are included in the design of the coupling signal, and a sine term is introduced to adjust the oscillation of the hook and load swing angle. At the same time, a hyperbolic tangent term is introduced to suppress the driving force of the overhead crane to prevent excessive driving force from affecting the control performance. Furthermore, for the problem of uncertain parameters, an adaptive law is used to estimate the uncertain parameters online, ultimately designing an adaptive coupling anti-swing controller with enhanced swing angle suppression under initial input constraints. The asymptotic stability of the equilibrium point of the closed-loop system is proven using the Lyapunov method and LaSalle’s invariance principle. Through extensive experimental simulations, the proposed control strategy demonstrates good control performance.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"64 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141866829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Wear behaviors of PcBN milling insert in high-speed dry milling nodular cast iron","authors":"Hong-Liang Ma, Bao-Jun Sun, Jia-Hao Zhang","doi":"10.1007/s40430-024-05088-2","DOIUrl":"https://doi.org/10.1007/s40430-024-05088-2","url":null,"abstract":"<p>Nodular cast iron is an important material for internal combustion engines inside automobiles and tractors. However, its poor machinability, low efficiency, and severe tool wear during cutting limit the application to a certain extent. In this paper, a novel type of uncoated and coated PcBN milling inserts (C-PcBN) are used for high-speed dry milling of nodular cast iron. The effects of the cutting speed on the wear characteristics, mechanisms, and service life of the milling inserts are systemically investigated by comparing the counterparts of cemented carbide-coated milling inserts (C-YG) with the same model. Additionally, the relationships between cutting speed and the cutting force, temperature, system vibration, and service life are analyzed. The results revealed that the cutting speed has a significant influence on the cutting performance of the three milling inserts. PcBN and C-PCBN are superior to C-YG milling inserts in cutting performance with small wear amount, long service life, and low machining surface roughness value at high speed (more than 400 mm/min).</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"170 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141866915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A digital twin approach to support a multi-task industrial robot operation using design of experiments","authors":"David Guerra-Zubiaga, Matheus Cardoso dos Santos, Razvan Cristian Voicu, Gershom Richards, Sean Gosnell, Gustavo Franco Barbosa","doi":"10.1007/s40430-024-05114-3","DOIUrl":"https://doi.org/10.1007/s40430-024-05114-3","url":null,"abstract":"<p>The manufacturing industry recognizes drilling operations as a significant portion of production, often accounting for a substantial part of overall costs. In the transformative wave of Industry 4.0, new technologies have emerged, presenting remarkable opportunities to enhance machining processes. Thus, this study integrates digital twins (DT) technology to refine drilling operations. Within this framework, a robot actively executed drilling tasks, with the DT closely monitoring and regulating the drilling speed. This research further established a connectivity bridge that facilitates synchronizing the virtual system with the operational process. The article presents a design of experiments in a virtual simulation space to analyze the impact of various parameters. This approach aimed to pinpoint the robot joints wielding the most significant influence on the comprehensive drilling operations sequence. The findings underscored that the J4 joint of the FANUC robot model M-16iB/20 stood out as a critical contributor to the process, influencing it by an impressive margin of 16%. This research demonstrates a promising avenue for harnessing digital twin technology to streamline and optimize manufacturing production, setting a precedent for future explorations in the field.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"56 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141866830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Toward enhanced mechanical rigidity: additive manufacturing of auxetic tubes with PU core and comparative analysis of unique structural behaviors","authors":"Rhuan José Ribeiro Pereira, Rafael Augusto Gomes, Guilherme Ferreira Gomes","doi":"10.1007/s40430-024-05091-7","DOIUrl":"https://doi.org/10.1007/s40430-024-05091-7","url":null,"abstract":"<p>The pursuit of enhancing manufacturing and production processes has given rise to Additive Manufacturing, a methodology characterized by the production of polymeric, metallic, or composite components with high precision, commonly referred to as three-dimensional printing technology (3D printing). Currently gaining momentum across various sectors, 3D printing is favored for its streamlined production using CAD models in software, finding applications in health, structural and numerical optimization, industrial and construction, automotive, aerospace, and other fields. Furthermore, in the realm of advanced materials, research aims to discover unique structures with noteworthy properties. Auxetic structures, notable for their negative Poisson's ratio, present a characteristic that diverges from conventional materials, showcasing volumetric expansion under tensile forces, in contrast to the contraction experienced by conventional materials. This study endeavors to fabricate auxetic tubes filled with a PU core using Additive Manufacturing and subject them to compression tests. The mechanical test responses will be analyzed and compared with existing literature to assess the enhancement in mechanical rigidity without a significant increase in structural weight. Results indicate that the re-entrant structure yielded the best outcomes, with an energy absorption ratio of 1.08 J/g and an incremental ratio of 23.59, correlating the percentage increase in energy absorption with the percentage increase in mass. Additionally, unexpected behaviors were observed in certain structures: the anti-trichiral structure exhibited a Zero Poisson Ratio (ZPR) behavior, and the dragonfly structure, while inconclusive, leaned toward a ZPR behavior due to the foam diminishing the auxetic effect of the structure.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"10 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141866899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bionic optimization design for the crossbeam of a five-axis machining center based on honeycomb sandwich structures","authors":"Shihao Liu, Ganxing Chen, Mao Lin, Jingru Li, Jiayi Qin","doi":"10.1007/s40430-024-05096-2","DOIUrl":"https://doi.org/10.1007/s40430-024-05096-2","url":null,"abstract":"<p>In order to improve the static and dynamic performance of the crossbeam of five-axis machining centers, a bionic optimization design method based on honeycomb sandwich structures was proposed. The finite element model of a crossbeam was established, and the static and dynamic performance indexes were analyzed. In order to obtain the honeycomb sandwich bionic structure crossbeam, the crossbeam sizes with high static and dynamic performance correlations were obtained using the sensitivity analysis method, and the bionic design for the original crossbeam was carried out based on honeycomb sandwich structures. To select the honeycomb sandwich bionic structure crossbeam with excellent performance, the weight of each index of the total performance of the crossbeam was determined using the analytic hierarchy process, and the variation formula of the total performance of the honeycomb sandwich bionic structure crossbeam was constructed. To obtain the excellent size of the honeycomb sandwich bionic structure crossbeam, the response surface optimization was carried out on the honeycomb sandwich structure crossbeam using the central composite test design method. To select the best candidate points of optimization scheme, the formula for the total performance variation of the crossbeam of the optimized honeycomb sandwich bionic structure was constructed using the analytic hierarchy process. The results show that compared with the original crossbeam, the optimized bionic crossbeam has a small reduction in mass, its maximum total displacement is reduced by 10.16%, its maximum equivalent stress is reduced by 27.61%, its first-order natural frequency is increased by 2.47%, and its second-order natural frequency is increased by 4.85%. The optimization results show that the lightweight of the crossbeam is achieved and its static and dynamic performance is improved, thus proving that the proposed bionic optimization design method based on the honeycomb sandwich structure is reasonable.</p>","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":"47 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141866832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}