La technologie de programmation hors-ligne permet la génération de la trajectoire complexe en projection thermique. Dans le laboratoire du LERMPS, une extension logicielle appelée « Thermal Spray Toolkit » (T.S.T.) a été développée pour assister la programmation hors-ligne dans le domaine de projection thermique. Cependant, les efforts sont encore attendus pour améliorer sa fonctionnalité. Donc, l'objectif de cette thèse est d'améliorer l'application de la programmation hors-ligne en projection thermique. Selon la procédure d'application, les travaux de cette thèse se composent de trois parties.Premièrement, les efforts sont dévoués à l'amélioration du module « PathKit » dans T.S.T., afin d'optimiser la fonctionnalité de la génération de la trajectoire. L'algorithme pour la génération de la trajectoire sur le substrat courbe a été étudié pour assurer le pas de balayage constant. Une nouvelle trajectoire « spirale d'Archimède » a été développé pour réparer les défauts par la projection à froid. La réparation sur une pièce d'aluminium avec un défaut a été réalisé pour valider la trajectoire spirale d'Archimède. Deuxièmement, les modélisations ont été développées pour simuler l'épaisseur du dépôt en 2D et en 3D. Puis, Ils sont intégrés dans le logiciel RobotStudioTM comme un module individuel dit « ProfileKit ». Dans le « ProfileKit 2D », il peut évaluer les effets des paramètres opératoires sur le profil du dépôt et puis optimiser les paramètres. Dans le « ProfileKit 3D », l'épaisseur du dépôt peut être simulée selon la trajectoire du robot et la cinématique du robot.Les fonctionnalités sont validées par un dépôt de forme trapézoïdal élaboré par la projection à froid avec les pas debalayage variés.Dernièrement, l'analyse cinématique du robot a été étudiée pour optimiser la performance du robot pendant le processus de projection. Afin de mieux évaluer la performance du robot, un paramètre « overall parameter » (OP), la moyenne pondérée d'écart-type de la vitesse articulaire est introduit pour mesurer la complexité de la trajectoire du robot. Ensuite, l'optimisation du montage de la torche ainsi que l'optimisation de la disposition de la pièce sont étudiées par l'analyse cinématique du robot et le paramètre OP. Le résultat montre que l'optimisation cinématique peut efficacement améliorer la performance du robot pour maintenir la vitesse prédéfinie. / The offline programming technology provides the possibility to generate complex robot trajectories in thermal spray process. In the laboratory of LERMPS, an add-in software called “Thermal SprayToolkit” (T.S.T.) has been developed to assist the offline programming in the field of thermal spray.However, efforts are still expected to improve the functionality of this software. The aim of this study is to improve the application of offline programming technology in the thermal spray process. According to the procedure of the offline programming in thermal spray, the work of this thesis consists of three parts.Firstly, efforts have been dedicated to improve the module “PathKit” in T.S.T., which aim to improve the functionality of trajectory generation. The algorithm of trajectory generation for the curved substrate surface was improved to maintain a constant scan step. A novel Archimedean spiral trajectory was developed for damage component recovery application by cold spray. The experiment of an Al5056 coating depositing on a manually manufactured workpiece with a crater defect was carried out to validate the effects of spiral trajectory with adapted nozzle speed.Secondly, numerical models were developed to simulate the coating thickness distribution in 2D and 3D, and then integrated in the RobotStudio™ as an individual module named “ProfileKit”. In the “ProfileKit 2D”, it is able to evaluate the effects of operating parameters on coating profile and optimize the parameters. In the “ProfileKit 3D”, coating thickness distribution can be simulated based on the nozzle trajectory and robot kinematics data. The functionalities were validated by the trapezoid coldsprayed coating.At last, kinematic analysis was used to provide the optimization methods for a better robot performance in thermal spraying. In order to better evaluate the robot performance, an overall parameter (OP) that is the weighted mean of standard deviation of joint speed, was introduced to measure the complexity of a robot trajectory. Afterwards, the optimal nozzle mounting method as well as the optimal workpiece placement were investigated by the kinematic analysis and the overall parameter. The result shows that the kinematic optimization can effectively improve the robot performance to maintain the predefined speed.

Made available in DSpace on 2016-12-08T17:19:30Z (GMT). No. of bitstreams: 1 elementos pre-textuaus.pdf: 86552 bytes, checksum: b4f9afc7367b0456da6227d06b49d099 (MD5) Previous issue date: 2007-06-29 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Blackeart malleable iron samples were galvanized using twenty different zinc bath compositions. Each bath was made with different concentration and combinations of bismuth, nickel, tin and aluminium. These additions aim not only to substitute lead, a hazardous element to the environment, but also to reduce coating thickness, usually higher than established by standards due to the great reactivity between cast iron and zinc bath. Additional studies were made to check the corrosion resistance and to check the maintenance or intensity of the coating s brightness. When using just bismuth and nickel additions to the zinc bath, it wasn t observed a considerable coating thickness reduction, but bismuth influenced bath fluidity, favoring better zinc draining and formation of more compacted and defined zinc-iron compounds. It was observed that bismuth decreased the coating s corrosion resistance, while nickel can increase the corrosion resistance when the bath has small bismuth concentrations. Tin addictions reduced the coating thickness when used together with bismuth and nickel addictions. However, tin did not only reduce the corrosion resistance, but also decreased the coating s brightness. Highest aluminium concentrations reduced the coating s thickness considerably when compared to the coating s thickness of the samples galvanized in the other baths. Aluminium also increased corrosion resistance when compared to the coatings of the samples galvanized in baths containing bismuth, nickel and tin. However excessive coating thickness reduction, caused by highest aluminium addictions to the bath, reduced corrosion resistance. Highest aluminium addictions were totally favorable to the coating s brightness. The combination of bismuth, nickel, tin and aluminium were effective on coating thickness reduction and some of these combinations also provided greater rust resistance and shinier coatings. Hence, the chemical elements added weren t detrimental to the environment and they are good alternatives to substitute lead in the hot-dip galvanizing process. / Amostras de ferro fundido maleável preto foram galvanizadas em vinte diferentes banhos de zinco, cada qual composto por concentrações e combinações variadas de bismuto, níquel, estanho e alumínio. Além de substituir o chumbo, um elemento tóxico e nocivo ao meio ambiente, objetiva-se com estas adições a redução da espessura do revestimento galvanizado, normalmente em excesso ao estabelecido em norma devido à grande reatividade dos ferros fundidos com o banho de zinco. Estudos adicionais foram realizados para a verificação da resistência à corrosão e para a verificação da manutenção ou intensificação do brilho dos revestimentos. Utilizando adições somente de bismuto e níquel ao banho de zinco não foi observada uma redução considerável da espessura do revestimento, mas o bismuto influenciou na fluidez do banho favorecendo o melhor escorrimento do zinco e a formação de fases zinco-ferro mais compactas e definidas. Observou-se que o bismuto diminuiu a resistência à corrosão dos revestimentos, mas o níquel pode aumentar a resistência à corrosão quando se têm adições menores de bismuto ao banho. Adições de estanho reduziram a espessura de camada quando utilizadas em conjunto com adições de bismuto e níquel, mas o estanho foi prejudicial à resistência à corrosão além de diminuir o brilho dos revestimentos. O alumínio em concentrações mais elevadas tornou as espessuras dos revestimentos consideravelmente menores quando comparadas às espessuras dos revestimentos galvanizados nos outros banhos estudados. O alumínio ainda aumentou a resistência à corrosão dos revestimentos em relação aos revestimentos galvanizados nos banhos contendo bismuto, níquel e estanho. Contudo a redução excessiva da espessura da camada, proporcionada por adições maiores de alumínio, fez com que a resistência à corrosão diminuísse novamente. Adições de maiores teores de alumínio foram totalmente favoráveis ao aumento do brilho dos revestimentos. A combinação de elementos químicos como o bismuto, níquel, estanho e alumínio mostrou-se efetiva na redução da espessura de camada, sendo que algumas destas combinações também proporcionaram maiores valores de resistência à corrosão e revestimentos com brilhos mais intensos. Além disso, os elementos químicos adicionados não são nocivos ao meio ambiente, sendo boas alternativas para substituir o chumbo na galvanização por imersão a quente. Palavras-chave: galvanização por imersão a quente, espessura de camada, resistência à corrosão, compostos intermetálicos zinco-ferro.