<p>Engineering design models for the torsion and axial dynamic stiffness of carbon black filled rubber bushings in the frequency domain including amplitude dependence are presented. They are founded on a developed material model which is the result of applying a separable elastic, viscoelastic and friction rubber component model to the material level. Moreover, the rubber model is applied to equivalent strains of the strain states inside the torsion or axial deformed bushing previously obtained by the classical linear theory of elasticity, thus yielding equivalent shear moduli which are inserted into analytical formulas for the stiffness. Therefore, unlike other simplified approaches, this procedure includes the Fletcher-Gent effect inside the bushing due to non-homogeneous strain states. The models are implemented in Matlab®. In addition, an experimental verification is carried out on a commercially available bushing thus confirming the accuracy of these models which become a fast engineering tool to design the most suitable rubber bushing to fulfil user requirements. Finally, they can be easily employed in multi-body and finite element simulations</p>

<p>Sammanfattning</p><p>Omkonstruktion av krankonsol</p><p>Den primära uppgiften i detta arbete har varit att dimensionera om en krankonsol samt att modifiera den robotfixtur som finns för att kunna utnyttja roboten på ett effektivare sätt. I nuläget svetsas fyra utav balkens sex delar av roboten, förhoppningen är att alla delar skall kunna svetsas på samma gång. Idag punktsvetsas även konsolbenen ihop för hand innan robotsvetsningen, det vore önskvärt att roboten kunde ta hand om det också. Den andra uppgiften är att se ifall det går att genomföra ett materialbyte för att på så sätt minska konsolens vikt samt öka dess lastförmåga.</p><p>Genom användandet av konstruktionsmetoder som till exempel QFD-hus (Quality Function Deployment) har ett antal koncept arbetats fram. Dessa har sedan utvärderats genom att undersöka hur väl de uppfyller de krav som ställts på fixturen. Resultatet av detta arbete har blivit en fixtur där roboten svetsar samtliga delar men i detta fall måste punktsvetsningen fortfarande göras i förväg. Samt ytterligare ett förslag på fixtur där punktsvetsningen inte är nödvändig, men denna fixtur har en begränsning i och med att bakre gaveln ej kan svetsas i robotcellen.</p><p>Dimensioneringen har skett genom traditionell hållfasthetsberäkning med avseende på böjning samt vridning av konsolen. Av dessa beräkningar har resultatet blivit att det finns ett flertal olika sätt att dimensionera om konsolen. Man kan behålla det nuvarande materialet och ändå minska godstjockleken på konsolbenen, alternativt kan man genomföra materialbytet och då öka konsolens lastförmåga samt minska dess vikt.</p> / <p>Abstract</p><p>Redesign of Consoles for Vehicle-Cranes</p><p>The purpose of this thesis has been to redesign a crane-console and modify the fixture that is used for robot-welding. At the moment, four of the six parts of the console are welded by a robot. The hope was that the modification would allow the robot to weld all the parts of the console at once. This could save time and hopefully make the production more efficient. The redesign of the console was to examine if there were a possibility to change the material that are used and thereby get a stronger and lighter structure.</p><p>By using modern design processes, for example the Quality Function Deployment, a couple of concepts were generated and evaluated by studying the customer’s requirements. The results of this evaluation are two different fixtures. In the first one the robot can weld all parts at one time, but when using this fixture some manual welding is still required because there is no other way to keep the plates together while the robot is welding. In the other fixture there is a possibility to keep the plates steady when the robot is working. But this has the negative effect that one of the parts cannot be welded by the robot and has to be welded by hand afterwards.</p><p>The re-dimensioning has been done by using traditional calculations concerning mechanics of materials. The results of these calculations are that there are several different ways to dimension the console. One way is to keep the current material and there is still room to remove material. Alternatively a material change can be done and in that way there is even more room to remove material and get a stronger structure.</p>

<p>Examensarbetet har utförts i samarbete med Produktutvecklarna AB i Växjö.</p><p>Arbetet har varit att konstruera en båtlyft för fritidsbåtar, med en vikt på maximalt 1000 kg.</p><p>Lyften skall kunna lyfta båten ifrån en båttrailer, och den skall kunna användas som vinterförvaring,</p><p>Den skall också kunna lutas 30 grader för att underlätta tvättning och underredsbehandlig.</p><p>Arbetet innefattar konstruktion, hållfasthetsberäkningar, materialval, simuleringar samt dimensioneringar av lager och hydraulkolvar.</p>

Sammanfattning Den här rapporten är ett arbete utfört åt IDAB WAMAC International AB. Företaget är verksamt inom branschen för packsalsutrustning och är beläget i Eksjö. Arbetet har gått ut på att ta fram konstruktionsprinciper för en ny strömtillriktare som ska klara av en produktionshastigt på 90 000tidningar/timma. En strömtillriktare är en enhet som sitter på, eller är integrerad i, en transportbana för tidningar och har till uppgift att centrera tidningsströmmen på banan efter olika moment i produktionen. De strömtillriktare som finns på marknaden i dag motsvarar inte fullt de krav och förväntningar som tryckerierna har med tanke på hur tidningen ska centreras och då helst när produktionshastigheten är hög. Det finns två typer av strömtillriktare, oscillerande bladjogger och bandjogger. Den oscillerande bladjoggern fungerar på det sättet att den med hjälp av två blad knuffar tidningen så att den centreras på banan. Bladen utför då en oscillerande rörelse med hjälp av en excenter. Bandjoggern centrerar tidningen på det sättet att den har vertikala band som är kilformade mot varandra, dessa band vibrerar och centrerar då tidningen. För att få reda på mer om vilka konkurrenterna är och vilka strömtillriktare de har genomfördes en konkurrentanalys. När denna analys var genomförd, med hjälp av bland annat branschorganisationen IFRA: s hemsida, så återfanns sex stycken huvudkonkurrenter. För att få reda på mer fördelar och brister med deras joggrar vände vi oss till olika tryckerier som dagligen använder sådan utrustning. Svaren som erhölls från tryckerierna var väldigt knapphändiga så analyser fick göras med hjälp av bilder och information som fanns på Internet samt patent och registreringsverket. För att kunna utvärdera och motivera valen av joggerfunktion, studeras några av de grundläggande orsakerna till variation av slutresultatet som friktionen mellan tidningen och transportbandet och rörelsemängdens variation med produktionshastigheten. IDAB WAMAC International AB:s SA-112 har ett bra resultat på centreringsarbetet vid en produktionshastighet på 40 000- 50 000tidninger/timma detta har fått vara en referens vid uträkning av styrande mekaniska delar. Detta ger klara motiveringar för valet av bandjogger framför bladjogger I det resultat som har framkommit syns det tydligt att mycket arbete har lagts ner på att få tidningen så styv som möjligt, däremot har det varit svårt att dimensionera de axlar som ska utföra den oscillerande rörelsen på banden, då erfarenheten inom området har varit dålig och det har saknats referensexempel på hur de vertikala banden svarar på de stötar som det får. En stor skillnad mellan den befintliga joggern (SA-112) och den vars konstruktionsprinciper som beskrivs i rapporten är att den tidigare är en enhet som byggs på en befintlig transportbana medan den senare har sin transportbana integrerad för bästa effekt av centreringsarbetet.

Sammanfattning Omkonstruktion av krankonsol Den primära uppgiften i detta arbete har varit att dimensionera om en krankonsol samt att modifiera den robotfixtur som finns för att kunna utnyttja roboten på ett effektivare sätt. I nuläget svetsas fyra utav balkens sex delar av roboten, förhoppningen är att alla delar skall kunna svetsas på samma gång. Idag punktsvetsas även konsolbenen ihop för hand innan robotsvetsningen, det vore önskvärt att roboten kunde ta hand om det också. Den andra uppgiften är att se ifall det går att genomföra ett materialbyte för att på så sätt minska konsolens vikt samt öka dess lastförmåga. Genom användandet av konstruktionsmetoder som till exempel QFD-hus (Quality Function Deployment) har ett antal koncept arbetats fram. Dessa har sedan utvärderats genom att undersöka hur väl de uppfyller de krav som ställts på fixturen. Resultatet av detta arbete har blivit en fixtur där roboten svetsar samtliga delar men i detta fall måste punktsvetsningen fortfarande göras i förväg. Samt ytterligare ett förslag på fixtur där punktsvetsningen inte är nödvändig, men denna fixtur har en begränsning i och med att bakre gaveln ej kan svetsas i robotcellen. Dimensioneringen har skett genom traditionell hållfasthetsberäkning med avseende på böjning samt vridning av konsolen. Av dessa beräkningar har resultatet blivit att det finns ett flertal olika sätt att dimensionera om konsolen. Man kan behålla det nuvarande materialet och ändå minska godstjockleken på konsolbenen, alternativt kan man genomföra materialbytet och då öka konsolens lastförmåga samt minska dess vikt. / Abstract Redesign of Consoles for Vehicle-Cranes The purpose of this thesis has been to redesign a crane-console and modify the fixture that is used for robot-welding. At the moment, four of the six parts of the console are welded by a robot. The hope was that the modification would allow the robot to weld all the parts of the console at once. This could save time and hopefully make the production more efficient. The redesign of the console was to examine if there were a possibility to change the material that are used and thereby get a stronger and lighter structure. By using modern design processes, for example the Quality Function Deployment, a couple of concepts were generated and evaluated by studying the customer’s requirements. The results of this evaluation are two different fixtures. In the first one the robot can weld all parts at one time, but when using this fixture some manual welding is still required because there is no other way to keep the plates together while the robot is welding. In the other fixture there is a possibility to keep the plates steady when the robot is working. But this has the negative effect that one of the parts cannot be welded by the robot and has to be welded by hand afterwards. The re-dimensioning has been done by using traditional calculations concerning mechanics of materials. The results of these calculations are that there are several different ways to dimension the console. One way is to keep the current material and there is still room to remove material. Alternatively a material change can be done and in that way there is even more room to remove material and get a stronger structure.

Our employer Camatec Industriteknik AB gave us the assignments to increase theirs range of versions on Camcoil that is their own patent product. Camcoil is a capstan system that is used when steel band fabricated. Exist for example in production lines their steel band should be annealed. Our goal with this work is to come up with a completed production basis on a Camcoil for heavy industry. The basis should contain calculations, 3D-constructions, drawings and cost proposal on manufacturing and detail purchase. Demands on this project: 1. 15 ton load 2. Strip width up to 1500 mm 3. Head diameter 610 mm 4. Production speed 35 m/min 5. Economy manufacturing 6. Be simple Several concepts were decided out of the feasibility study. The concepts were compared against each other and finally only one was left. Result of the design concept became one shaft with three capstan heads and a support function. One conceivable working process was planed with a Gantt-table. A decision was made that the work of the Camcoil should be separated in several details. Earlier work on Camcoil was study to increase our understanding for the work. Some of the examined parts were shaft dimensions, bearings, head shape, tripod, support function and hydraulic cylinder for the capstan and support. Some of the calculations have been made in Ansys. Directional deformation, Von Mises stress for the shaft, length of the hydraulic cylinder in the capstan heads and the stress for tripod and support function was calculated. Analytic calculations were made on some parts. Frequency analysis for the system was made with Dunkerleys method. The reaction forces in the bearings were calculated with a combination of elementary case. Lifecycle of the bearings can with this be appreciated. Hydraulic cylinder strength in capstan heads and support function, locking assemblies, sheet metal thickness and control off beam dimensions in support was also decided with analytic calculations. 3D models were made on several details in the system. Models like lock rings, engines and bearings were taken from the supplier. After the modeling assemble drawings and detail drawings were made for the whole capstan system. The drawings were sending to manufacturer for a cost proposal.

<p>In this investigation strength and structural behaviour of prestressed concrete is studied with one full scale test of one flat slab, 16000 mm x 19000 mm, and three slabs on ground each 4000 mm x 4000 mm with thickness 150 mm. The flat slab was constructed and tested in Aalesund. This slab has nine circular columns as support, each with diameter 450 mm. Thickness of this test slab was 230 mm and there were two spans in each direction, 2 x 9000 mm in x-direction and 2 x 7500 mm in y-direction from centre to centre column. The slab was reinforced with twenty tendons in the middle column strip in y-direction and eight tendons in both outer column strips. In x-direction tendons were distributed with 340 mm distance. There were also ordinary reinforcement bars in the slab. Strain gauges were welded to this reinforcement, which together with the deflection measurements gives a good indication of deformation and strains in the structure.</p><p>At a live load of 6.5 kN/m² shear failure around the central column occurred: The shear capacity calculated after NS 3473 and EuroCode2 was passed with 58 and 69 %, respectively. Time dependent and non-linear FE analyses were performed with the program system DIANA. Although calculated and measured results partly agree well, the test show that this type of structure is complicated to analyse by non-linear FEM.</p><p>Prestressed slabs on ground have no tradition in Norway. In this test one reinforced and two prestressed slabs on ground were tested and compared to give a basis for a better solution for slabs on ground. This test was done in the laboratory at Norwegian University of Science and Technology in Trondheim. The first slab is reinforced with 8 mm bars in both directions distributed at a distance of 150 mm in top and bottom. Slab two and three are prestressed with 100 mm² tendons located in the middle of slab thickness, and distributed at a distance of 630 mm in slab two and 930 mm in slab three. Strain gauges were glued to the reinforcement in slab one and at top and bottom surface of all three slabs. In slab two and three there were four load cells on the tendons.</p><p>Each slab were loaded with three different load cases, in the centre of slab, at the edge and finally in the corner. This test shows that stiffness of sub-base is one of the most important parameters when calculating slabs on ground. Deflection and crack load level depends of this parameter. Since the finish of slabs on ground is important, it can be more interesting to find the load level when cracks start, than deflection for the slab. It is shown in this test that crack load level was higher in prestressed slabs than in reinforced slab. There was no crack in the top surface with load in the centre, but strain gauges in the bottom surface indicate that crack starts at a load of 28 kN in the reinforced slab, and 45 kN in the prestressed slabs. Load at the edge give a crack load of 30 kN in reinforced slab, 45 kN and 60 kN in prestressed slabs. The last load case gives crack load of 30 kN in reinforced slab, 107 kN and 75 kN in prestressed slabs. As for the flat slab, FE analyses were performed for all of the three slabs on ground, and analyses shows that a good understanding of parameters like stiffness of sub-base and tension softening model, is needed for correct result of the analyses.</p>

<p>Exploration for oil and gas is moving towards deeper waters. Steel has been the most common riser material. Related to deep water concepts titanium has become an alternative to steel for these applications.</p><p>Several codes exist today for predicting collapse loads for marine pipes. However, the capacity formulas are developed for steel. If the formulas are applied directly to titanium several parameter uncertainties will be unknown. Ideally, extensive model testing of titanium pipes is required. This thesis discusses and investigates utilisation of experimental material test data and a supplementary numerical approach based on finite element analysis. The relationship between material model parameters as input to the analysis and the collapse capacity is investigated by performing a series of nonlinear FEM analyses.</p><p>Statistical models for the input material model parameters are established based on tests on small specimens cut from titanium pipes. These models are subsequently combined with results from the FEM analyses by application of response surface methods. As output from the analysis, the probability distributions of the pipe capacity with respect to local buckling/collapse are obtained.</p><p>Finally, the data from the nonlinear finite element analyses are compared to a relevant design code. Suggestions for a possible basis for design formulas to check for the local collapse capacity of deep water titanium risers are provided.</p>

Exploration for oil and gas is moving towards deeper waters. Steel has been the most common riser material. Related to deep water concepts titanium has become an alternative to steel for these applications. Several codes exist today for predicting collapse loads for marine pipes. However, the capacity formulas are developed for steel. If the formulas are applied directly to titanium several parameter uncertainties will be unknown. Ideally, extensive model testing of titanium pipes is required. This thesis discusses and investigates utilisation of experimental material test data and a supplementary numerical approach based on finite element analysis. The relationship between material model parameters as input to the analysis and the collapse capacity is investigated by performing a series of nonlinear FEM analyses. Statistical models for the input material model parameters are established based on tests on small specimens cut from titanium pipes. These models are subsequently combined with results from the FEM analyses by application of response surface methods. As output from the analysis, the probability distributions of the pipe capacity with respect to local buckling/collapse are obtained. Finally, the data from the nonlinear finite element analyses are compared to a relevant design code. Suggestions for a possible basis for design formulas to check for the local collapse capacity of deep water titanium risers are provided.

In this investigation strength and structural behaviour of prestressed concrete is studied with one full scale test of one flat slab, 16000 mm x 19000 mm, and three slabs on ground each 4000 mm x 4000 mm with thickness 150 mm. The flat slab was constructed and tested in Aalesund. This slab has nine circular columns as support, each with diameter 450 mm. Thickness of this test slab was 230 mm and there were two spans in each direction, 2 x 9000 mm in x-direction and 2 x 7500 mm in y-direction from centre to centre column. The slab was reinforced with twenty tendons in the middle column strip in y-direction and eight tendons in both outer column strips. In x-direction tendons were distributed with 340 mm distance. There were also ordinary reinforcement bars in the slab. Strain gauges were welded to this reinforcement, which together with the deflection measurements gives a good indication of deformation and strains in the structure. At a live load of 6.5 kN/m2 shear failure around the central column occurred: The shear capacity calculated after NS 3473 and EuroCode2 was passed with 58 and 69 %, respectively. Time dependent and non-linear FE analyses were performed with the program system DIANA. Although calculated and measured results partly agree well, the test show that this type of structure is complicated to analyse by non-linear FEM. Prestressed slabs on ground have no tradition in Norway. In this test one reinforced and two prestressed slabs on ground were tested and compared to give a basis for a better solution for slabs on ground. This test was done in the laboratory at Norwegian University of Science and Technology in Trondheim. The first slab is reinforced with 8 mm bars in both directions distributed at a distance of 150 mm in top and bottom. Slab two and three are prestressed with 100 mm2 tendons located in the middle of slab thickness, and distributed at a distance of 630 mm in slab two and 930 mm in slab three. Strain gauges were glued to the reinforcement in slab one and at top and bottom surface of all three slabs. In slab two and three there were four load cells on the tendons. Each slab were loaded with three different load cases, in the centre of slab, at the edge and finally in the corner. This test shows that stiffness of sub-base is one of the most important parameters when calculating slabs on ground. Deflection and crack load level depends of this parameter. Since the finish of slabs on ground is important, it can be more interesting to find the load level when cracks start, than deflection for the slab. It is shown in this test that crack load level was higher in prestressed slabs than in reinforced slab. There was no crack in the top surface with load in the centre, but strain gauges in the bottom surface indicate that crack starts at a load of 28 kN in the reinforced slab, and 45 kN in the prestressed slabs. Load at the edge give a crack load of 30 kN in reinforced slab, 45 kN and 60 kN in prestressed slabs. The last load case gives crack load of 30 kN in reinforced slab, 107 kN and 75 kN in prestressed slabs. As for the flat slab, FE analyses were performed for all of the three slabs on ground, and analyses shows that a good understanding of parameters like stiffness of sub-base and tension softening model, is needed for correct result of the analyses.