La Fabrication Additive (FA) est un procédé de fabrication qui a commencé à se développer dans les années 80 et qui atteint actuellement une maturité qui lui permet d’être utilisé de manière rentable et fonctionnelle par les industriels. La fabrication additive est définie comme étant le procédé de mise en forme d’une pièce par ajout de matière, à l’opposé de la mise en forme traditionnelle par enlèvement de matière (usinage). Cette nouvelle technologie est une réelle révolution et permet de relever de nouveaux défis technologiques sans précédent. Que ce soit sur un axe matériau ou plus largement dans le cadre de l’usine du futur, la fabrication additive est un réel levier de croissance, mais de nombreux travaux de recherche sont encore à mener afin de perfectionner cette nouvelle technologie. C’est autour de cette problématique que les travaux de thèses se sont focalisés avec un accent sur l’intégration de matériaux électroactifs pour la réalisation de fonction mécatronique tirant profit des procédés de Fabrication Additive. Les actions de recherche montrent que la fabrication additive de matériaux électroactifs sera de plus en plus employée pour la réalisation de fonctions mécatroniques hybrides qui combineront à la fois la structure mécanique, des circuits intégrés en silicium, des pistes conductrices et des matériaux couplés imprimés, intégrant ainsi des fonctionnalités, telles que des capteurs, des affichages ou des sources d’énergie. Les travaux montrent le potentiel applicatif autour du contrôle de santé des structures en composites, mais aussi du contrôle de forme d’instrument pour la chirurgie. Pour arriver au développement de ces dispositifs, les points suivants ont été développés autour des matériaux électroactifs et de leurs règles d’intégrations et d’optimisation. / Additive Manufacturing (FA) is a manufacturing process that began to develop in the 1980s and is now mature enough to be used in a cost-effective and functional way by manufacturers. Additive manufacturing is defined as the process of shaping a part by adding material, as opposed to traditional shaping by material removal (machining). This new technology is a real revolution and enables us to meet new unprecedented technological challenges. Whether on a material axis or more widely as part of the plant of the future, additive manufacturing is a real growth driver, but many research work is yet to be conducted to perfect this new technology. It is around this issue that the work of theses focused with a focus on the integration of electroactive materials for the realization of mechatronics function taking advantage of Additive Manufacturing processes. Research shows that additive manufacturing of electroactive materials will be increasingly used for the realization of hybrid mechatronic functions that will combine both the mechanical structure, silicon integrated circuits, conductive tracks and printed coupled materials, integrating as well as features, such as sensors, displays or power sources. The work shows the potential application around the health control of composite structures, but also the instrument shape control for surgery. To arrive at the development of these devices, the following points have been developed around electroactive materials and their integration and optimization rules.

The goal of this thesis was to create a sensors glove with force feedback feeling when operating a humanoid robot hand. The development covered multiple areas such as mechanics, electronics and programming. The final product gave the user control over three fingers of a humanoid robotic hand. In the case where the robotic hand comes in contact with an object the user's finger movement is limited according to the pressure the robotic hands fingers exposes the object to. / Rapporten beskriver arbetet för framtagandet och skapandet av en sensorhandske med inbyggd force feedback funktion som därmed ska möjliggöra styrning över en mekanisk gripare med hög finmotorik. Detta för att kunna få en mer realistisk manövrering över griparen. Projektet är uppdelat i två system. Ett system för sensorhand som med en Arduino Uno Rev 3 styr servomotorer som används för att återskapa force feedbacken. Utöver det sker även mätning och analys av användarens fingerposition genom potentiometrar. Det andra systemet är för en humanoid robothand som även den använder sig av en Arduino Uno Rev 3 för att manövrera de servomotorer som handen använder för att flytta fingrarna. Mätning och analys av trycksensorer på robothandens fingertoppar genomförs för att möjliggör återskapandet av force feedback till användaren efter det tryck robothanden utsätter ett objekt för. De två systemen använder sig av ett I2C protokoll i form av multimaster and slave struktur för att kommunicera mellan det två mikrokontrollerna samt deras respektive servomotordrivarkretsar (Adafruit- PCA9685). För att undvika krockar i kommunikationen då mer än en master använder I2C linorna skapades en ovanpåliggande struktur för att upprätta regler för hur kommunikationen ska genomföras. All datahantering och kommunikation programmeras i C++. Programmeringskoden är skapad så att utbytet av robothanden och dess servodrivarkrets är möjligt. Sensorhandsken kan därmed implementeras till vad användaren väljer att använda den till, så länge kommunikationen sker med samma regler och struktur som upprättats. Utöver elektronik och programmering har även mycket mekanik tillämpats då olika delar av elektroniken ska byggas in och kunna fungera korrekt med rörliga mekaniska delar. Detta har bland annat använts i skapandet för fingerpositionsmätningen där trimpotentiometrar har byggts in och rörliga delar kan ändra på det resistiva motståndet i komponenten. Trots projektets begränsning till tre fingrar tyder projektet på att det framtagna konceptet av en sensorhandske med force feedback är fullt möjligt och genomförbart.

Dans un marché aéronautique en plein essor marqué par une croissance rapide du parc d’avions utilisées à travers le monde, l’optimisation de la maintenance devient une préoccupation pour les avionneurs. Il s’agit de maximiser la disponibilité des aéronefs tout en réduisant les couts directs d’exploitation sans compromis sur la sécurité des hommes et en respectant les contraintes environnementales. Une stratégie possible pour relever ce challenge est de renforcer la capacité à anticiper les défaillances afin de recourir à des actions préventives le plus juste possible sur les composants les plus critiques comme les roulements à billes. La mise en œuvre de processus de Prognostic Health Management (PHM) prend ainsi une part grandissante et le processus de pronostic est considéré comme l’un des principaux leviers d’action. Son déploiement requiert que le comportement du système étudié puisse être observés. Il peut ainsi bénéficier de l’apport des récentes avancées dans le domaine des microsystèmes autonomes en énergie permettant des mesures intelligentes et un transfert de données d’une manière distribuée, sans aucune aide externe. L’association de ses deux champs de recherche mène naturellement vers le roulement intelligent qui pourrait être la transition d’une maintenance programmée à une maintenance prédictive. Cependant les solutions de PHM autour du roulement et le roulement intelligent, ne restent pas moins le fruit de l’évolution des techniques et technologies de surveillance, de récupération d’énergie et de connectivité. C’est dans ce cadre que s’inscrit ce mémoire de thèse par Validation des Acquis de l’Expérience (VAE). Il s’articule en trois parties principales : motivations du VAE, état de l’art autour du roulement mécatronique et exemple de contributions autour de la récupération d’énergie et la communication sans fil à des fins de surveillance. / The aeronautic market is growing and the aircraft fleet size is becoming bigger. Maintenance optimization is a key focus for liner since objectives are to maximize the aircraft availability and to reduce the direct cost of ownership with no compromise on the flight security and safety with respect to environmental standards. To meet this challenge one possible strategy is to apply a PHM approach using the recent advance in the autonomous embedded microsystem field. This PhD work presents some work done around energy harvesting and wireless sensor to enable a smart bearing able to measure the usage and health data from the component in the purpose of predictive mainteance.

<p>Denna uppsats är en fallstudie av företaget Svenskt Rekonstruktionskapital AB (SRK). Uppsatsens syfte är att försöka klargöra hur företaget SRK går tillväga vid en företagsrekonstruktion och belysa hur avkastningen på investerat kapital kan förändras med en ändrad kapitalstruktur. Fallstudien består av en metodtriangulering där en intervju genomfördes med företagets VD samt att årsredovisningar och informationsmaterial granskades. För att kunna uppfylla syftet med uppsatsen formulerades en frågeställning och för att kunna besvara frågeställningen togs en teoretisk grund fram där element som företagsvärdering, kapitalstruktur samt juridiska aspekter behandlas. Uppsatsens kom fram till att en ökad belåningsgrad är nödvändig om SRK vill öka avkastningen på eget kapital. Detta bör genomföras när SRK kan uppvisa nettooperativa vinstmarginaler. Vidare kom uppsatsen fram till att en viktig del av rekonstruktionsförfarandet är att säkra ett ackord. Detta eftersom ackordet förbättrar investeringen avsevärt. Dessutom konstaterar uppsatsen att en företagsrekonstruktion är beroende av många juridiska aspekter och att många olika instanser är inblandade i rekonstruktionsprocessen.</p>

A mechatronic system is an assembly of technological components, such as a mechanism, sensors, actuators, and a control unit. Recently, a number of researchers and industrial manufacturers have highlighted the potential advantages of lightweight parallel mechanisms with respect to the accuracy, dynamic performances, construction cost, and transportability issues. The design of a mechatronic system with such a mechanism requires a multidisciplinary approach, where the mechanical deformations have to be considered. This thesis proposes two original contributions in this framework. (i) First, a modular and systematic method is developed for the integrated simulation of mechatronic systems, which accounts for the strongly coupled dynamics of the mechanical and non-mechanical components. The equations of motion are formulated using the nonlinear Finite Element approach for the mechanism, and the block diagram language for the control system. The time integration algorithm relies on the generalized-alpha method, known in structural dynamics. Hence, well-defined concepts from mechanics and from system dynamics are combined in a unified formulation, with guaranteed convergence and stability properties. Several applications are treated in the fields of robotics and vehicle dynamics. (ii) Usual methods in flexible multibody dynamics lead to complex nonlinear models, not really suitable for control design. Therefore, a systematic nonlinear model reduction technique is presented, which transforms an initial high-order Finite Element model into a low-order and explicit model. The order reduction is obtained using the original concept of Global Modal Parameterization: the motion of the assembled mechanism is described in terms of rigid and flexible modes, which have a global physical interpretation in the configuration space. The reduction procedure involves the component-mode technique and an approximation strategy in the configuration space. Two examples are presented: a four-bar mechanism, and a parallel kinematic machine-tool. Finally, both simulation and modeling tools are exploited for the dynamic analysis and the control design of an experimental lightweight manipulator with hydraulic actuators. A Finite Element model is first constructed and validated with experimental data. A reduced model is derived, and an active vibration controller is designed on this basis. The simulation of the closed-loop mechatronic system predicts remarkable performances. The model-based controller is also implemented on the test-bed, and the experimental results agree with the simulation results. The performances and the other advantages of the control strategy demonstrate the relevance of our developments in mechatronics.

Denna uppsats är en fallstudie av företaget Svenskt Rekonstruktionskapital AB (SRK). Uppsatsens syfte är att försöka klargöra hur företaget SRK går tillväga vid en företagsrekonstruktion och belysa hur avkastningen på investerat kapital kan förändras med en ändrad kapitalstruktur. Fallstudien består av en metodtriangulering där en intervju genomfördes med företagets VD samt att årsredovisningar och informationsmaterial granskades. För att kunna uppfylla syftet med uppsatsen formulerades en frågeställning och för att kunna besvara frågeställningen togs en teoretisk grund fram där element som företagsvärdering, kapitalstruktur samt juridiska aspekter behandlas. Uppsatsens kom fram till att en ökad belåningsgrad är nödvändig om SRK vill öka avkastningen på eget kapital. Detta bör genomföras när SRK kan uppvisa nettooperativa vinstmarginaler. Vidare kom uppsatsen fram till att en viktig del av rekonstruktionsförfarandet är att säkra ett ackord. Detta eftersom ackordet förbättrar investeringen avsevärt. Dessutom konstaterar uppsatsen att en företagsrekonstruktion är beroende av många juridiska aspekter och att många olika instanser är inblandade i rekonstruktionsprocessen.

In this thesis, a new Poly Phase Motor (rotary actuator) based on the Shape Memory Alloy (SMA) is presented. Details of Design, Modeling, Characterization, Realization and Control of Poly Phase SMA Motor are presented. Motor with 3 and 6 Phases, with appropriate Control circuit have been realized in laboratory and simulated results have been verified experimentally. In literature, broadly two types of Shape Memory Alloy based motors namely limited rotation motor and unlimited rotation motor are found. In the unlimited rotation type SMA based motor the SMA element is in the spring form. Hence, an attempt has been made in this research to develop an Unlimited Rotating type Balanced Poly Phase Motor based on SMA wire in series with a spring in each phase. By isolating SMA actuation and spring action a constant force by the SMA wire through out its range of operation is achieved. While designing the motor, similarity in function between Poly Phase SMA Motor and Stepper Motor was found. Hence, the Poly Phase Motor is characterized similar to that of a Stepper Motor. Functionally, the Poly Phase Motor can be used in stepping mode for generating incremental motion and servo mode for generating continuous motion. Various parameters of the motor have been defined. The motor can be actuated in either direction with different Phase sequencing methods, which are presented in this work. While explaining sequencing methods, effect of the thermal time constants has also been presented. The lumped thermal model is used for dynamic simulation of motor. The motor has been modeled with a new approach to the SMA wire Hysteresis model. This model is simple and useful for real time control applications. Model is implemented using Simulink and used for the simulation of the motor. Generalization of the motor concept is done and motor up to 16 Phases are studied and the simulation results done using MATLAB are discussed. It could be observed that the torque generated by the motor increases with increased number of phases while the torque ripple reduces. The motor torque ripple is better for motor with odd number of phases due to its construction. Two methods of achieving servo motion are presented. The first method is Micro Stepping, consisting of controlling single phase temperature with a position feedback. The second method is Antagonistic Control of temperatures of phases with position feedback. Both the above methods use PID Controller with optical encoder feedback for position sensing. Performance of the actuator with step, ramp and triangle inputs has been simulated using Simulink and verified experimentally for various loads and disturbances. Positional accuracy of 0.07% for the Step input and for the full rotation of 3600 is achieved. Vector Control of SMA Motor is presented. By this method Speed and the torque of the motor will be effectively controlled. Since the temperatures of the wires are controlled in this research, this method is named as Thermal Space Phasor or Vector Based Control. This method of rotation of motor is simulated using Simulink and verified experimentally. Here the current through the SMA is controlled so as to get near sinusoidal variation in temperature. This leads to a near Sinusoidal variation of force. It is shown that by controlling the temperature of phases Sinusoidally with a phase shift of 1200, the Resultant Force will be a constant over the Spatial angle of 3600 and its Velocity of rotation will be Constant. Open loop and closed loop control of the speed and torque is presented. While the motor rotates at fixed Speed and Torque in Open Loop Control, motor adopts to change in torque and velocity in Closed Loop control with reduced ripple. PID Controller is used for closed loop control. The presented rotary actuator and their experimental results set a new standard for SMA based new generation rotary actuators and control.

Modern product development is a highly complex process characterized by a pronounced interdisciplinary cooperation. Interdisciplinary cooperation accompanied with firm strategic and integrating concep ts leads to innovation potentials in context of cooperative product engineering. The phrase "Mechatronics" represents exactly these novel methodological concepts in the developing process of innova tive products with highly innovative functionality and structure. The concept Mechatronics has been exemplary proven successfully in high-tech sectors. A glance at the automobile or high speed train technology gives an impressive and pursuing figure of the far reach ing Mechatronics philosophy. SME in general have not enough research and development resources to their disposal in order to comply with the ever increasing market demands. Ways out of this dilemma are strategic alliances on one hand and the education of young "Mechatronicans" at universities on the other hand. ISOM 2002 aims to contribute by inviting SME representatives and students from universities and supplementary instit utions in Saxony. The key words of Mechatronics are sensors and actuators, integrated control strategies, modeling and simulation, effective design, safety and reliability. The symposium focuses on state-of-the-art in Mechatronics, especially regarding to controlled high precision systems and particularly to novel electromechanical driving systems. It will point toward future research directions in these subjects. ISOM 2002 is intended as a forum for those engineers and researchers from universities and industry in and outside Europe who actively participate in the young field of Mechatronics and uphold the old spirit of exchanging theoretical and practical results within the scientific community. / Die moderne industrielle Produktentwicklung ist ein hochkomplexer Prozess, der gekennzeichnet ist durch eine stark ausgeprägte interdisziplinäre Arbeit. Diese Interdisziplinarität gepaart mit fundiert en Strategie- und Integrationskonzepten führt zu erheblichen Innovationspotentialen im kooperativen Produkt-Engineering. Das Kunstwort Mechatronik steht genau für dieses neuartige methodologische Konz ept im Entwicklungsprozess innovativer Produkte mit einem hohen Integrationsgrad von Funktionalität und Struktur. Die Industrie hat in vielen High-Tech-Bereichen das Konzept Mechatronik beispielhaft realisiert. Ein Blick auf die Automobil- und Hochgeschwindigkeitszugtechnik zeigt in eindrucksvoller Weise die Tr agfähigkeit der Mechatronik-Philosophie. KMU verfügen oft nicht über das erforderliche FuE-Personal und die entsprechenden materiellen Ressourcen, um das enorme Entwicklungstempo mitzugehen. Wege zur Überwindung dieser Defizite sind strategi sche Allianzen und eine gezielte Ausbildung von Mechatronikern an Hoch- und Fachschulen. Auch hierzu soll das Symposium einen Beitrag leisten, indem insbesondere Vertreter von KMU und Studenten der ga stgebenden Universität sowie anderer Hochschuleinrichtungen Sachsens eingeladen wurden. Zu den Schlüsselworten in der Mechatronik gehören Sensoren und Aktoren, integrierte Steuerstrategien, Modellierung und Simulation, effektiver Entwurf, Sicherheit und Zuverlässigkeit. Der derzeitige Sta nd der Mechatronikforschung, vor allem mit Blick auf hochgenaue, gesteuerte mechatronische Systeme und insbesondere neuartige integrierte elektromechanische Antriebssysteme, soll im Mittelpunkt dieses Symposiums stehen. Auch zukünftige Forschungsaufgaben für die Grundlagen- und anwendungsorientierte Forschung in den genannten Themenbereichen sollen aufgezeigt werden. Das Symposium versteht sich als Treffpunkt für diejenigen Forscher und Entwickler, die in Europa an Hochschulen ebenso wie in der Industrie auf diesem Gebiet aktiv sind und sich auf einen Austausch th eoretischer, experimenteller und anwendungsspezifischer Erfahrungen, die bei der wissenschaftlichen Arbeit auf dem noch jungen Gebiet der Mechatronik erlangt wurden, freuen.

Made available in DSpace on 2014-12-17T14:56:13Z (GMT). No. of bitstreams: 1 IvoAON_DISSERT.pdf: 3534559 bytes, checksum: 4a686a0bd15089c1b9710cf531e7beda (MD5) Previous issue date: 2013-01-31 / Universidade Federal do Rio Grande do Norte / The objective of the dissertation was the realization of kinematic modeling of a robotic wheelchair using virtual chains, allowing the wheelchair modeling as a set of robotic manipulator arms forming a cooperative parallel kinematic chain. This document presents the development of a robotic wheelchair to transport people with special needs who overcomes obstacles like a street curb and barriers to accessibility in streets and avenues, including the study of assistive technology, parallel architecture, kinematics modeling, construction and assembly of the prototype robot with the completion of a checklist of problems and barriers to accessibility in several pathways, based on rules, ordinances and existing laws. As a result, simulations were performed on the chair in various states of operation to accomplish the task of going up and down stair with different measures, making the proportional control based on kinematics. To verify the simulated results we developed a prototype robotic wheelchair. This project was developed to provide a better quality of life for people with disabilities / O objetivo da disserta??o foi a realiza??o da modelagem cinem?tica de uma cadeira de rodas rob?tica usando cadeias virtuais, que permitiu modelar a cadeira como um conjunto de bra?os manipuladores cooperativos formando uma cadeia cinem?tica paralela. Foi desenvolvida uma cadeira de rodas rob?tica para transporte de portador de necessidades especiais que supera obst?culos como desn?veis e barreiras existentes ? acessibilidade em ruas e avenidas, incluindo o estudo sobre tecnologia assistiva, arquitetura paralela, modelagem cinem?tica, constru??o e montagem do prot?tipo do rob? com a realiza??o de uma lista de verifica??o de problemas e barreiras ? acessibilidade em diversos percursos, tomando como base normas, decretos e leis existentes. Como resultado, foram realizadas simula??es da cadeira em v?rios estados de opera??o para realizar a tarefa de subir e descer desn?veis com diferentes alturas, realizando o controle proporcional baseado na cinem?tica. Para comprovar os resultados simulados foi desenvolvido um prot?tipo do rob?. Este projeto foi desenvolvido visando proporcionar uma melhor qualidade de vida ?s pessoas portadoras de necessidades especiais

The Master’s thesis deals with design of digital twins of machine tools and application of designed procedure on a case study – digital twin of the machine tool MCV 754 Quick. In the first part are described current roles of digital twins in the field of machine tools and also hardware and software options for creating them. Software and hardware tools by Siemens (Mechatronics Concept Designer and SIMIT) are used for the case study. The complex procedure of creating the digital twin is designed in the second part, starting with preparation of a model, ending with the virtual commissioning of the machine tool MCV 754 Quick. The procedure is described in detail, including preparation of 3D model of the machine tool, assignment of physical properties and joints, preparation of PLC, connection all the elements of the whole system: Sinumerik – SIMIT – Mechatronics Concept Designer and controlling the twin via CNC automation system. Output of the thesis is the virtually commissioned machine tool, capable of being controlled by Sinumerik 840D sl. This is the first step in development of the full-fledged digital twin of machine tool, which can be used for testing the functionality and capability of this new technology in industry.