IsaMill is a stirred type mill used in mineral industry for fine and ultra-fine grinding. The difficulty in obtaining the internal flow information in the mill by experimental techniques has prevented the development of the fundamental understanding of the flow and generating general methods for reliable scale-up and optimized design and control parameters. This difficulty can be effectively overcome by numerical simulation based on discrete element method (DEM). In this work a DEM model was developed to study particle flow in a simplified IsaMill. The DEM model was validated by comparing the simulated results of the flow pattern, mixing pattern and power draw with those measured from a same scale lab mill. Spatial distributions of microdynamic variables related to flow and force structure such as local porosity, particle interaction forces, collision velocity and collision frequency have been analyzed. Among the materials properties of particles, it is shown that by decreasing particle/particle sliding friction coefficient, the particle flow becomes more vigorous which is useful to grinding performance. Restitution coefficient does not affect the particle flow significantly. A too low or too high particle density could decrease grinding efficiency. Although grinding medium size affects the flow, its selection may depend on the particle size of the products. Among the operational variables considered, the results show that fill volume and mill speed proved to be important factors in IsaMil process. Increase of fill volume or mill speed increases the interaction between particles and agitating discs which results in a more vigorous motion of the particles. Among the mill properties, particle/stirrer sliding friction plays a major role in energy transfer from stirrer to particles. Although there exists a minimum collision energy as particle/stirrer sliding friction increases, large particle/stirrer sliding friction may improve grinding performance as it has both large collision frequency and collision energy. However, that improvement is only up to a critical particle/disc sliding friction beyond which only input energy increases with little improvement on collision frequency and collision energy. Reducing the distance between stirrers or increasing the size of disc holes improves high energy transfer from discs to particles, leading to high collision frequency and collision energy. Among the different stirrer types, the energy transfer is more effective when disc holes are present. Pin stirrer shows increased collision energy and collision frequency which also result in a high power draw. Using the DEM results, a wear model has been developed to predict the wear pattern of the discs. This model can be used to predict the evolution of the disc wear with the time. It is shown that energy transfer from discs to particles are increased when discs are worn out. An attempt has also been made to analyze the microdynamic properties of the mill for different sizes. It is shown that specific power consumption and impact energy are correlated regardless of the mill size and mill speed.

Thesis (M.S.)--University of Missouri-Columbia, 2007. / The entire dissertation/thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file (which also appears in the research.pdf); a non-technical general description, or public abstract, appears in the public.pdf file. Title from title screen of research.pdf file (viewed on January 7, 2008) Includes bibliographical references.

Thesis (Ph.D.) -- McMaster University, 1998. / Includes bibliographical references (leaves 117-126). Also available via World Wide Web.

Thesis (M.S.)--Ohio University, March, 2000. / Title from PDF t.p.

Thesis (Ph.D.)--University of Wollongong, 2007. / Typescript. Includes bibliographical references: leaf 165-177.

Thesis (MScEng) -- Stellenbosch University, 2003. / ENGLISH ABSTRACT: High Speed Cutting (HSC), specifically milling is a significant contemporary development in machining. The Die and Mould industry is experiencing a difficult business climate. There is competitive pressure for shorter lead times and lower prices. Companies worldwide, are under financial pressure, to meet the challenges of a globalised business environment. The conventional position of milling and Electric Discharge Machining (EDM / Erosion) is discussed with the proposal to use HSC and EDM as complementary processes. Among new developments the progress in computer infrastructure is prominent. There is also a paradigm shift that should be made from experience based process planning to modern, up to date knowledge based process planning. High Speed Cutting is now a mature process capable of acceptable process security. The examples detailed include crankshaft-forging tooling, injection moulding tooling and powder sintering tooling. A process chain is proposed for the complementary HSC / EDM process with estimated illustrative time saving over the conventional EDM dominated process. HSC will be the first process removing the bulk of the material, finishing as far as possible and with EDM finally machining the features that will be difficult or impossible with HSC. To facilitate the use of the complementary processes a decision model to determine the crossover point between HSC and EDM is proposed. The decision model is firstly presented as a flow diagram to determine whether the task is a candidate for HSC only, EDM only, or the complementary HSC / EDM process. The key parameters e.g tool H d ratio are variables. This is in order that the flow diagram may be adapted to a specific machine tool infrastructure and expertise level in a company. The second part is a HSC machining time estimation model. The time is estimated per segment roughed, semi-finished, or finish machined. The model is in an empirical form with constants that can be adapted to the practices of a specific company. It is intended that the constants also be periodically revised to reflect the development in HSC expertise that will occur during the use HSC in the company. The model is practically evaluated with a case study, including the detail steps, not included in the model. Conceptual guidelines are given for software implementation. It is concluded that HSC and EDM are suitable complementary processes. It is a necessary prerequisite to use pallets to avoid multiple set-ups. Complementary HSC and EDM is especially appropriate for the gradual deployment and skill development for HSC. HSC and complementary HSC / EDM is considered the opportunity for companies to make a major breakthrough in lead time and operating expense if the necessary pallet/fixturing equipment, CAx infrastructure and human capability is available. / AFRIKAANSE OPSOMMING: Hoe Spoed Masjinering (HSC), spesifiek frees is ‘n betekenisvolle ontwikkeling in masjinering. Die Gereedskap en Gietvorm bedryf ervaar ‘n moelike besigheidsklimaat. Daar is kompeterende druk vir korter lewertye en laer pryse. Maatskappye wereldwyd is onder finansiele druk om in die geglobaliseerde besigheidsmilieu te presteer. Die posisie van frees en Elektriese Ontladingsmasjinering (EDM / Vonkerosie) word bespreek met die voorstel om HSC en EDM as komplementere prosesse te gebruik. Onder die nuwe ontwikkelings is daar prominente vooruitgang in rekenaarinfrastruktuur. Daar is ook ‘n paradigmaverskuiwing nodig van ondervinding gebaseerde na op datum kennis gebaseerde proses beplanning. HSC is nou ‘n ontwikkelde proses met voldoende prosessekerheid. Die voorbeelde sluit krukas smee gereedskap, inspuitgiet gereedskap, en poeier-sinter persgereedskap in. ‘n Prosesketting word voorgestel vir die komplementere HSC / EDM proses met ‘n beraamde illustratiewe tydbesparing oor die konvensionele EDM gedomineerde proses. HSC sal die eerste proses wees wat die meerderheid van die materiaal verwyder en oppervlaktes so ver as moontlik afwerk, met EDM wat die finale afwerking doen en ook die masjinering wat vir moeilik haalbaar of onmoontlik is vir HSC. Om die gebruik van die komplementere prosesse te fasiliteer, word ‘n beluitnemingsmodel vir die oorgangspunt tussen HSC en EDM voorgestel. Dit word eerstens as vloeidiagram gebruik om die taak te klassifiseer vir HSC alleen, EDM alleen of vir komplementere HSC en EDM. Die sleutelparameters, bv die beitel 116 verhouding, is veranderlikes. Dit is sodat die vloeidiagram aangepas kan word by ‘n spesifieke masjienvermoe en ‘n kundigheidsvlak in ‘n maatskappy. Die tweede deel is ‘n HSC masjineringstyd model. Die tyd word beraam per segment uitgerof, afgewerk, of finaal afgewerk. Die model is in empiriese vorm met konstantes wat kan aangepas word by die praktyke van ‘n firma. Dit is die bedoeling dat die konstantes periodiek aangepas word om die ontwikkeling te weerspieel wat in die maatskappy plaasvind. Die model word prakties evalueer met ‘n gevallestudie, insluitend die detailstappe, wat nie in die modelformulering ingesluit is nie. Konseptuele riglyne word gegee vir programmatuur implementering. Die gevolgtrekking word gemaak dat HSC en EDM geskikte komplementere prosesse is. Dit is ‘n voorvereiste om pallette te gebruik om veelvuldige opstellings te vermy. Komplementere HSC / EDM is veral toepaslik om HSC geleidelik in ‘n firma te ontplooi en kundigheid te bou. Die HSC / EDM kombinasie word ook die geleentheid geag vir firmas om ‘n deurbraak te maak in lewertyd en bedryfsuitgawes as die nodige pallettoerusting, CAx infrastruktuur en menslike vermoe beskikbaar is.

Made available in DSpace on 2014-10-09T12:33:49Z (GMT). No. of bitstreams: 0 / Made available in DSpace on 2014-10-09T14:03:57Z (GMT). No. of bitstreams: 0 / Dissertação (Mestrado) / IPEN/D / Instituto de Pesquisas Energéticas e Nucleares - IPEN-CNEN/SP

Made available in DSpace on 2014-10-09T12:54:37Z (GMT). No. of bitstreams: 0 / Made available in DSpace on 2014-10-09T14:07:21Z (GMT). No. of bitstreams: 0 / Tese (Doutoramento) / IPEN/T / Instituto de Pesquisas Energéticas e Nucleares - IPEN/CNEN-SP

Os mecanismos amplamente utilizados em aplicações industriais são de tipo serial, porém há algum tempo vem sendo desenvolvidos estudos sobre as vantagens que os mecanismos de arquitetura paralela oferecem em contraposição com os seriais. Rigidez, precisão, altas frequências naturais e velocidade são algumas características que os mecanismos paralelos atribuem a máquinas já consolidadas na indústria, destinadas principalmente nas operações de manipulação (pick and place). Nesse sentido, é relevante o estudo sobre a funcionalidade em outros tipos de operação como a usinagem e, particularmente o fresamento. Para isto, devem-se ainda explorar e desenvolver as capacidades dos mecanismos paralelos em relação à rigidez e à precisão nas operações mencionadas. Foi desenvolvido previamente o projeto e montagem do protótipo de uma máquina fresadora de arquitetura paralela. Também aracterizado pela redundância na atuação para o posicionamento da ferramenta. Com este intuito, pretende-se no trabalho atual, avaliar o erro estático de posicionamento da ferramenta por métodos experimentais, quantificar os deslocamentos, realizar um mapeamento experimental em diversas configurações dos membros. Por outro lado, pretende-se adaptar um modelo numérico simplificado que possa prever as deformações elásticas em diversas configurações, que contemple o efeito de juntas lineares flexíveis e que de alguma forma ajude a identificar as principais fontes de erro. Para tal, foram elaboradas rotinas de programação que através da cinemática inversa e o uso do método dos elementos finitos tentem prever o que de fato acontece nos experimentos. Foi proposta também uma implementação alternativa para o controle do mecanismo através de um software CNC e a conversão de coordenadas cartesianas em coordenadas dos atuadores, isto ajudaria na geração do código G. Finalmente, foram elaboradas algumas trajetórias que tentam avaliar a exatidão e repetitividade do mecanismo além de descrever outras trajetórias livres. / Serial mechanisms have been widely used in industrial applications, on the other hand some studies related to advantages of parallel kinematics and its benefits have been developed in the last decades. Stiffness, accuracy, high natural frequencies and velocities are some characteristics that this kind of kinematic architecture attribute to some industrial machines specially used in \"pick and place\" operations. However, it remains relevant to study the functionality that parallel mechanisms could offer in other kind of applications such as milling. In order to achieve this, it is important to evaluate and explore the capabilities and performance characteristics when precision and stiffness are involved. A milling machine with parallel architecture prototype has been designed and constructed in previous works. The tool positioning is characterized by redundant actuation. The present work aims to evaluate the static error of the tool positioning mechanism by experimental procedures, in order to quantify the tool displacements under some established loads and to elaborate an experimental map for static error in different mechanism configurations. On the other hand, it is intended to adapt a simplified numerical model that could predict the stiffness behavior along the workspace including the effect of flexible linear actuators. For this purpose, a finite element method script was developed to solve all the structure displacements. In addition, it was proposed an alternative control implementation that works through an open source CNC software and its appropriate kinematic conversion for the mechanism characteristics and the generation of G Code scripts. Finally, some trajectories were planned in order to evaluate accuracy and repeatability in two proposed paths besides some other free operations.

Esta tese tem por objetivo estudar a precisão de uma nova estrutura robótica para operações de fresamento, em substituição às convencionais maquinas-ferramentas seriais, especialmente as fresadoras e os centros de usinagem CNC. A estrutura proposta está baseada no conceito da cinemática paralela, tendo a análise da precisão sido realizada em função do mapeamento dos erros de posicionamento da ferramenta de corte dentro do espaço de trabalho disponível, durante operação de fresamento de acabamento, aplicando modelagem matemática. A motivação está na busca por altos desempenhos e as estruturas robóticas paralelas possuem diversas vantagens perante as estruturas seriais: construção modular, massa reduzida, altas velocidades/acelerações. Por outro lado, há ainda problemas a serem solucionados, como: garantia da precisão, otimização do espaço de trabalho e redução/eliminação de singularidades. A metodologia aplicada no desenvolvimento deste trabalho compreende quatro etapas: a proposta de uma nova estrutura robótica desenvolvida a partir de métodos de síntese existentes; o desenvolvimento de modelos matemáticos para caracterizar o seu comportamento cinemático; a identificação das fontes de erro que influenciam no desvio de posição da ferramenta; a elaboração de modelos matemáticos e algorítmos computacionais para analisar o grau de influência de cada fonte de erro identificada. Desenvolvemos uma estrutura robótica de topologia assimétrica 2UPS+PRP, com as seguintes características: mobilidade 3 com três translações no espaço, reduzido número de componentes e movimento na direção z independente dos movimentos nas direções x e y. Apresentamos os algoritmos computacionais para mapear os erros cinemáticos, geométricos e elásticos através da discretização do espaço de trabalho disponível, baseado nas matrizes Jacobianas e no princípio do trabalho virtual. Com relação aos mapeamentos dos desvios de posição da ferramenta obtidos, chegamos a algumas conclusões. Os maiores erros cinemáticos ocorreram quando as imprecisões impostas aos dois membros motores laterais tinham sinais contrários. Os erros geométricos com tolerâncias dimensionais na classe de trabalho IT5, foram os mais relevantes dentre os erros considerados. Os erros elásticos, considerando forças de usinagem de acabamento, foram os menos relevantes entre os erros considerados, sendo expressiva a influência da rigidez das juntas universais e esféricas. A utilização do princípio do trabalho virtual, com parâmetros de rigidez concentrados, mostrou ser eficaz e eficiente, comparado ao SMA (análise da matriz estrutural) e ao FEM (método dos elementos finitos), devido ao menor trabalho para o desenvolvimento da sua formulação e ao tempo computacional reduzido para o seu processamento. / This thesis has the purpose to study the precision of a new robotic structure for milling operations, in substitution to the conventional serial machine-tools, specialy the CNC milling machines and cutting centers. The proposed structure is based on the parallel kinematics concept and the precision analysis was realized, applying mathematical models, to obtain the positioning errors mapping of the cutting tool in the available workspace, during finishing milling operations. The motivation is on the search higher performances and the parallel robotic structures have several advantages to the serial structures: modular construction, lightness, high velocities/acelerations. Otherwise, there are still problems to be solved, like: guaranty of precision, workspace optimization and reduction/elimination of singularities. The methodology applied for the development of this work involves four steps: the proposal of a new robotic structure developed using existing synthesis methods; the development of mathematical models to characterize its kinematic behavior; the error sources identification that influences the deviation of the tool position; the elaboration of mathematical models and computer algorithms to analyse the influence level of each identified error source. We developed one assymmetric robotic structure 2UPS+PRP, with the following characteristics: mobility 3 with three translations in the space, reduced number of componentes and displacement in z direction independent from the displacents in the x and y directions. We presented the computer algorithms to map the kinematic, geometric and elastic errors, throw the discretization of the available workspace, based on the Jacobian matrices and the virtual work principle. With regard to the tool position deviation mappings obtained, we reach to some conclusions. The major kinematic errors occurred when the imprecisions imposed to the two lateral actuatores had opposed signals. The geometric errors with dimensional tolerances in the IT5 work class, were the more relevant among the considered errors. The elastic errors, considering finishing manufacturing forces, were the less relevent among the considered errors, being expressive the influence of the rigidity of the universal and spherical jounts. The utilization of the virtual work principle and concentrated rigidity parameters, showed to be efficacious and efficient, compared to the SMA (astructural matrice analisis) and the FEM (finite elements methode), because of the minor work to develop its formulations end the reduced computer time to its prosecution.