L’amélioration des performances des robots est un enjeu important dans le domaine industriel. Les objectifs visés sont l’augmentation de l’espace de travail, de la capacité de charge transportable, de la vitesse de travail et de la précision du robot. Pour atteindre ces objectifs, il faut en général augmenter la rigidité, diminuer la masse et augmenter la capacité d’amortissement du robot. Les robots actuels sont généralement fabriqués en métaux : aluminium ou acier, ce qui limite leurs performances en raison des faibles capacités d’amortissement des vibrations de ces matériaux. Les matériaux composites présentent l’avantage de combiner des matériaux différents, ce qui conduit à une variété de leurs performances. Parmi les types de renforts, les fibres de carbone présentent un module d’élasticité élevé permettant la conception de pièces de grandes rigidités statiques mais elles possèdent une faible capacité d’amortissement. Les fibres végétales, par contre, possèdent une faible densité, de bonnes propriétés spécifiques et des capacités d’amortissement élevées. Cette thèse porte sur l’amélioration des performances d’un robot parallèle 3CRS en utilisant des matériaux composites pour reconcevoir des pièces initialement fabriquées en aluminium. La thèse commence d’abord par une caractérisation des comportements statiques et dynamiques du robot initial constitué de bras en aluminium. Ensuite, la forme des segments des bras robotiques est optimisée par rapport aux sollicitations mécaniques sur le robot. Un nouveau composite stratifié hybride renforcé par des fibres de carbone et des fibres de lin est alors proposé. Cette combinaison permet d’allier les avantages des deux types de fibres dans un composite pour le dimensionnement des composants sous sollicitation élevée. La structure de ce nouveau composite a été optimisée puis un segment est fabriqué pour valider la conception. Finalement, l’étude du nouveau robot avec des bras en matériaux composites a été réalisée, les résultats montrent que la rigidité du robot augmente, sa masse diminue légèrement et sa capacité d’amortissement augmente considérablement par rapport au robot initial. Donc, l’application du composite stratifié hybride peut améliorer les performances statiques et dynamiques et augmenter significativement la précision en fonctionnement du robot 3CRS. / Improvement of the robot’s performances is a major challenge in the industrial field. In general, improvement objectives are increasing workspace, transportable capacity, speed and precision of the robot. To achieve these objectives, it must increase rigidity, reduce weight and increase damping capacity of the robot. Currently, the robots are generally made of metals: aluminum or steel, which limits their performances due to low damping capacity of these materials.Composite materials present an advantage to combine different materials, which leads to a variety of composite material properties. Among the types of reinforcements, carbon fibers show high modulus that enables robotic parts with high static rigidities to be designed. However, carbon fibers have generally a low damping capacity. Natural fibers have low density, good specific properties and high damping capacity.This thesis focuses on the improvement of the performances of the 3CRS parallel robot by using the composite material to redesign robot parts initially made of aluminum. The thesis begins with static and dynamic characterizations of the original robot. Then, the shape of segments of the robotic arms is optimized with respect to applying force on the robot. A hybrid laminated composite reinforced with carbon fibers and flax fibers is proposed for the use. This combination enables to combine the advantages of two fiber types in a composite for using in high loaded components. The structure of the new hybrid laminated composite is optimized and a composite segment is then fabricated in order to validate the design. Finally, the analysis of the new robot with composite arms is executed. The result shows that the new robot has a slightly higher rigidity, lighter mass and considerably greater damping capacity in comparison with the original robot. Therefore, the application of the hybrid composite could improve the static and dynamic performances and increases considerably the accuracy in operation of the robot 3CRS.

Made available in DSpace on 2014-12-17T14:58:15Z (GMT). No. of bitstreams: 1 MayaraSCFL_DISSERT.pdf: 5165682 bytes, checksum: c5b249c3b897f27db4e517452be9b9ce (MD5) Previous issue date: 2012-04-30 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / Composites based on PEEK + PTFE + CARBON FIBER + Graphite (G_CFRP) has increased application in the top industries, as Aerospace, Aeronautical, Petroleum, Biomedical, Mechanical and Electronics Engineering challenges. A commercially available G_CFRP was warmed up to three different levels of thermal energy to identify the main damage mechanisms and some evidences for their intrinsic transitions. An experimental test rig for systematize a heat flux was developed in this dissertation, based on the Joule Effect. It was built using an isothermal container, an internal heat source and a real-time measurement system for test a sample by time. A standard conical-cylindrical tip was inserted into a soldering iron, commercially available and identified by three different levels of nominal electrical power, 40W (manufacturer A), 40W (manufacturer B), 100W and 150W, selected after screening tests: these power levels for the heat source, after one hour of heating and one hour of cooling in situ, carried out three different zones of degradation in the composite surface. The bench was instrumented with twelve thermocouples, a wattmeter and a video camera. The twelve specimens tested suffered different degradation mechanisms, analyzed by DSC (Differential Scanning Calorimetry) and TG (Thermogravimetry) techniques, Scanning Electron Microscopy (SEM) and Energy-Dispersive X-Rays (EDX) Analysis. Before and after each testing, it was measured the hardness of the sample by HRM (Hardness Rockwell M). Excellent correlations (R2=1) were obtained in the plots of the evaporated area after one hour of heating and one hour of cooling in situ versus (1) the respective power of heat source and (2) the central temperature of the sample. However, as resulting of the differential degradation of G_CFRP and their anisotropy, confirmed by their variable thermal properties, viscoelastic and plastic properties, there were both linear and non-linear behaviour between the temperature field and Rockwell M hardness measured in the radial and circumferential directions of the samples. Some morphological features of the damaged zones are presented and discussed, as, for example, the crazing and skeletonization mechanism of G_CFRP / Comp?sitos baseados em matrizes polim?ricas de PEEK e PTFE, refor?adas com fibra de carbono e grafite (G_CFRP) apresentam crescente aplica??o e desafios ? Engenharia nas ind?strias Aeroespacial, Aeron?utica, de Petr?leo, Biom?dica, Mec?nica e Eletr?nica. Um comp?sito G_CFRP foi aquecido em tr?s n?veis de energia t?rmica para identificar os principais mecanismos de dano e algumas evid?ncias em suas transi??es de mecanismos. Uma bancada experimental foi desenvolvida para sistematizar o fluxo t?rmico com base no Efeito Joule. Foi constru?da usando-se um recipiente isot?rmico, uma fonte quente interna e um sistema de medidas em tempo real para ensaiar um corpo-de-prova (CP) de cada vez. Uma ponta c?nica-cil?ndrica foi inserida em um ferro de soldar, comercialmente dispon?vel e identificado por tr?s diferentes n?veis de pot?ncia el?trica, 40W (fabricante A), 40W (fabricante B), 100W e 150W, selecionados ap?s ensaios piloto: estes n?veis de pot?ncia para a fonte quente, ap?s uma hora de aquecimento e uma hora de resfriamento in situ, promoveu tr?s zonas diferentes de degrada??o na superf?cie do comp?sito. A bancada foi instrumentada com doze termopares, um watt?metro e uma c?mera de v?deo. Os doze C.P. ensaiados apresentaram diferentes mecanismos de degrada??o, analisados pelas t?cnicas de Calorimetria Diferencial Explorat?ria (DSC) e Termogravimetria (TG), e pelas an?lises de Microscopia Eletr?nica de Varredura (MEV) e Energia Dispersiva de Raios-X (EDS). Antes e ap?s cada ensaio, foram feitos ensaios de dureza Rockwell M (HRM). Excelentes correla??es (R2=1) foram obtidas nas curvas da ?rea evaporada ap?s uma hora de aquecimento e uma hora de resfriamento in situ versus (1) a respectiva pot?ncia da fonte quente e (2) a temperatura central do C.P. entretanto, como resultado da degrada??o diferencial do G_CFRP e da sua anisotropia, confirmadas por suas propriedades t?rmicas vari?veis, propriedades viscoel?sticas e viscopl?sticas, houve comportamentos linear e n?o-linear entre o campo de temperatura e a HRM medidos nas dire??es radial e circunferencial dos C.P. Algumas peculiaridades morfol?gicas das zonas de dano s?o apresentadas e discutidas, como, por exemplo, os mecanismos de dano por crazing e esqueletiza??o do G_CFRP

Ce travail propose une optimisation de la conductivité électrique transverse des composites structuraux matrice/fibres de carbone. L'influence de la fonctionnalisation électrique de l'ensimage sur la conductivité des composites est particulièrement étudiée. Des feuillets submicroniques d'argent (AgNpts) ont été élaborés en présence de citrate de sodium (TSC). Leur morphologie plane est particulièrement adaptée à une dispersion dans un ensimage. Les feuillets ont été dispersés dans une matrice modèle. Le seuil de percolation électrique des feuillets est déterminé à 5,9 %. Cette valeur est cohérente avec un facteur de forme modéré, compris entre 12 et 28. L'ensimage fonctionnalisé a ensuite été déposé sur une mèche de fibres de carbone, elle-même imprégnée par une matrice PAEK hautes performances. Avant imprégnation des fibres de carbone, des fils submicroniques d'argent ont été introduits dans la matrice PAEK. Des composites matrice-fils submicroniques d'argent/fibres de carbone avec ensimage conducteur ont été mis en œuvre. Leur conductivité électrique est élevée (7 S.m-1), alors que la fraction volumique en particules d'argent (fils et feuillets) est inférieure à 1 % en volume. / This PhD thesis deals with the optimization of transverse electrical conductivity of Thermoplastic Carbon Fiber Reinforced Polymer. The influence of an electrically conductive sizing has been investigated. Silver nanoplates (AgNpts) have been successfully synthesized by a soft chemical reduction, with trisodiumcitrate (TSC) as surfactant. Silver nanoplates have been dispersed into a model matrix, percolation threshold has been determined near 5.9 % in volume fraction. This value is consistent with their moderate aspect ratio (between 12 and 28). Size and morphology of silver nanoplates are suitable for their dispersion in the sizing. Carbon fiber has been coated with conductive sizing. Carbon fiber will be further impregnated by a PAEK thermoplastic matrix. A higher conductivity level has been achieved by introducing silver nanowires in the PAEK matrix. Structural composites consisting of matrix-silver nanowires / continuous carbon fiber sized with conductive sizing have been elaborated. Their electrical conductivity reached 7 S.m-1 for a total silver volume fraction of 1 %.vol.

Les technologies de placement de plis ou d’enroulement filamentaire de composite à matrice thermoplastique avec consolidation en continu ont fait l’objet de nombreux travaux ces dernières années. Ces études ont porté principalement sur des composites à base de matrice thermoplastique semi-cristalline comme le poly(éther éther cétone) (PEEK) renforcée de fibres de carbone. L’objectif de la thèse est de déterminer les lois de comportement du composite fibres de carbone/matrice thermoplastique lors de la mise en œuvre afin de déduire quelle étape gouverne le processus de soudage et quels sont les paramètres procédés et matériaux influençant sa durée. Dans ce but, les principales propriétés de la matrice utiles à l’étude ont, dans un premier temps, été déterminées. Une attention particulière a été portée sur la dégradation thermique. Les analyses en thermogravimétrie ont ainsi permis d’évaluer sa cinétique de dégradation. Dans un deuxième temps, les mécanismes de contact intime et d’autohésion, responsables du soudage, ont été étudiés à partir de modèles. Pour cela, les mesures de rugosité de surface et de viscosité ont été intégrées au modèle de contact intime. Le temps de diffusion de la matrice a été déterminé par rhéologie puis intégré au modèle d’autohésion. Enfin, l’influence des paramètres procédé (temps, température et pression) et matériau (masses molaires et rugosité) sur les mécanismes de formation de l’interface et ses performances mécaniques a été évaluée expérimentalement par des tests d’adhérence (clivage et pelage) et comparée aux modèles. / The automated tow placement or filament winding processes of thermoplastic-based composites have been intensively studied in recent years. These studies concerned mainly composites with thermoplastic semi-crystalline matrices as carbon fiber reinforced poly(ether ether ketone) (PEEK). The thesis objective is to understand the physical mechanisms taking place in a thermoplastic-based composite during the welding in order to deduce which step governs the welding process and what are the parameters influencing its duration. First, the main properties of matrix of interest for this study were determined, in particular its thermal degradation. The thermal gravimetric analysis thus allowed to evaluate the kinetics of degradation. Secondly, the mechanisms of intimate contact and self-adhesion responsible for welding were studied using models. For this, surface roughness and viscosity measurements were included in the model of intimate contact. The diffusion time of matrix was determined by rheology and integrated into the self-adhesion model. Eventually, the influence of process (time, temperature and pressure) and material (molecular weight and roughness) parameters on the mechanisms of interface formation and its mechanical performance was evaluated experimentally by adhesion tests (wedge test and peeling ) and compared with models.

ABSTRACT The repair and strengthening of concrete bridge members with CFRP has become increasingly popular over recent years. However, significant research is still needed in order to develop more robust guidelines and specifications. The research project aims to assist with improving design prosedures for damaged concrete members with the use of CFRP. This document summarizes the analysis and testing of full-scale 40’ foot long prestressed concrete (PSC) bridge girders exposed to simulated impact damage and repaired with carbon fiber reinforced polymers (CFRP) materials. A total of five AASHTO type II bridge girders fabricated in the 1960’s were taken from an existing bridge, and tested at the Florida Department of Transportation FDOT structures lab in Tallahassee, Florida. The test specimens were tested under static loading to failure under 4-point bending. Different CFRP configurations were applied to each of the girders. Each of the test girders performed very well as each of them held a higher capacity than the control girder. The repaired girders 5, 6 and 7 surpassed the control girder’s capacity by 10.88%, 15.9% and 11.39%. These results indicate that repairing laterally damaged prestressed concrete bridge girders with CFRP is an effective way to restore the girders flexural capacity.

The content of the diploma thesis is evaluation of the usability of carbon composites in the space industry. The aim of this work is to assess whether carbon composites can find application in mechanical systems of passive thermal protection of artificial objects. Model examples demonstrate the principle of operation of selected passive thermal protection. The evaluation is realized based on the results of thermal analysis. Analytical formulas from field theory of heat transfer are used as a calculation method. The diploma thesis consists from two parts. The theoretical part briefly describes the mechanisms of heat transfer, selected types of passive thermal protection and properties and applications of carbon composites. The practical part consists of the assignment, calculation and evaluation of three examples. The results show that carbon composites can compete with commonly used materials for specific requirements.

This thesis deals with the assessment of reinforced concrete elements using a fully probabilistic approach and its comparison with the method of partial reliability factors. This method of ultimate limit state design will be applied to determine the ultimate limit state of reinforced concrete column loaded by a combination of "N + M", the normal force and bending moment. Specifically, I will solve a circular reinforced concrete column with and without the effect of wrapping unidirectional carbon fiber fabrics and comparing the theoretically determined values with the values determined by experiment, which is carried out at the Institute of Concrete and Masonry Structures Faculty of Civil Engineering of the Technical University in Brno.

Cílem této diplomové práce je lépe porozumět konceptu únavového poškození damage tolerance zmapováním všech možných vlivů na lomovou houževnatost vláknového kompozitu s polymerní matricí. Toho je dosaženo provedením zkoušek za různých podmínek (např. změna parametrů měření, mód zatížení, pořadí vrstev a materiál) a monitorováním odlišností v šíření trhliny. Na základě dat získaných během těchto testů je určena lomová houževnatost. Potenciální rozdíly jsou zkonzultovány a porovnány s ostatními vzorky.

This thesis deals with common problem health protection at work. Namely hand protection during the work in very cold environment. It’s an analysis of materials suitable for apparatus used for measuring the thermal resistance of the gloves. There was analysed a range of materials. Every single sample was tested for heat conductivity and afterwards was assessed the suitability of materials. Heat was generated by electricity. Ocured heat fields was assessed with thermocamera. After performed experiments of carbon fiber we haven’t reached any satisfying results which we could use for manufacturing of this device. On the other hand kapton film has given very interesting results which we would recommend eventually. Kapton film needs to be modify according to the method listed in the conlusion. This thesis gives us a clear overview and inspiration for additional research of this device. It finds it’s place in research facilities and companies manufacturing protective clothing.

Ce travail a consisté à optimiser la synthèse de phosphates de calcium (CaP) déposés sur tissus de fibres de carbone (TFC) par procédé de sono-électrodéposition afin d’obtenir des revêtements uniformes. Les paramètres électrochimiques clés optimisés sont le type et la durée de polarisation cathodique ainsi que la température de l’électrolyte. Pour un potentiel constant de -1 V à 70 °C, un régime d’électrolyse contrôlé de l’eau conduit à la formation d’un revêtement plaquettaire d’hydroxyapatite déficitaire en calcium (CDA) carbonatée. Les plaquettes sont composées de particules lamellaires (de quelques dizaines à centaines de nm) constituées de CDA carbonatée de structure ordonnée au coeur et de structure désordonnée car hydratée en surface des particules, organisation typique des apatites biomimétiques. Le matériau hybride a été dopé en strontium, engendrant la formation de revêtements où les ions Ca²+ sont substitués par des ions Sr²+ de manière contrôlée, conférant au biomatériau de nouvelles propriétés en vue d’une application en régénération osseuse. Ce travail a aussi démontré la possibilité d’adsorber de façon sélective des principes actifs ciblés (tétracycline, naproxène, aspirine) dans chaque constituant du matériau hybride. Les courbes de désorption ont mis en évidence deux modes de libération selon le principe actif.Une évaluation biologique des différentes matériaux hybrides a été réalisée. L’étude in vitro a porté sur la viabilité et la prolifération d’ostéoblastes humains en surface des biomatériaux hybrides, démontrant leur biocompatibilité. L’intérêt d’un dopage (Sr²+, aspirine et naproxène) sur l’activité des ostéoblastes a été démontré. Une expérience pilote in vivo a été menée, consistant à créer un défaut osseux dans des fémurs de rats et à étudier l’influence du type de biomatériaux TFC/CaP sur les évolutions quantitative et qualitative de la régénération osseuse. / Optimization of the synthesis of calcium phosphates (CaP) on carbon fiber cloths (TFC) was performed in using sono-electrodeposition process in order to obtain uniform coatings. The electrochemical potential applied and the electrolyte temperature during the synthesis were determined as being key parameters. For a constant potential of -1 V at 70 ° C, a controlled water electrolysis regime results in the deposit of plate-like calcium-deficient apatite (CDA). This plate-like particles (from a few tens to hundreds of nm in length) consist in an ordered structure of carbonated CDA in their core and in a disordered structure in the hydrated surface, a typical organization of biomimetic apatites. The hybrid material was doped with strontium, resulting in a carbonated CDA coating where the Ca²+ ions are controllably substituted by Sr²+ ions, leading to new properties for a bone regeneration application. This work has also shown the possibility of selectively adsorb targeted active molecules (tetracycline, naproxen, aspirin) in each component of the hybrid material. The desorption curves revealed two modes of release depending on the active molecule.A biological evaluation of the different hybrid materials was carried out. The in vitro study investigated the viability and proliferation of human osteoblasts at the surface of hybrid materials, demonstrating their biocompatibility. The interest of a doping (Sr²+, aspirin and naproxen) on osteoblast activity was demonstrated. An in vivo pilot experiment was conducted, through the creation of a bone defect in rat thighbones to study the influence of TFC/CaP biomaterials on the quantitative and qualitative evolutions of bone regeneration.