Tradicionalmente, em aplicações industriais predominam robôs cujas arquiteturas correspondem a estruturas cinemáticas seriais, ou seja, seus atuadores e peças movidas são dispostos em série, um após o outro, formando uma única cadeia cinemática aberta, de modo a posicionar o órgão terminal, a parte do robô que comumente contém uma garra ou um eletrodo de solda. Esses robôs apresentam desempenho insatisfatório em aplicações que demandem precisão, rigidez, alta freqüência natural e baixo tempo de ciclo. Sendo assim, tanto a comunidade acadêmica como a industrial têm manifestado um interesse crescente pela utilização de outro tipo de estrutura cinemática, denominada paralela, que se caracteriza pela presença de várias cadeias cinemáticas independentes, atuando de forma paralela e simultânea sobre o órgão terminal. Essa arquitetura não-convencional apresenta, potencialmente, uma série de vantagens, como: alta rigidez, leveza, rapidez, precisão e alta capacidade de carga. No entanto, existe uma série de problemas abertos que necessitam de uma investigação mais profunda, de modo a garantir que essa mudança de tendência venha a ser implementada com eficácia. O objetivo desta pesquisa é contribuir para o desenvolvimento de uma máquina fresadora de arquitetura paralela que seja promissora quanto à sua simplicidade construtiva, bem como a precisão de posicionamento da ferramenta, se comparada com os robôs paralelos tradicionais. Esses dois requisitos simplicidade e precisão serão alcançados mediante o emprego de uma estrutura modular e a utilização de uma barra de ancoragem ativa, de forma que a estrutura final apresente três atuadores operando em conjunto. Sendo assim, serão empregados três membros, todos ativos, formando uma estrutura cinemática redundante com mobilidade igual a dois. A avaliação do comportamento da arquitetura proposta para a fresadora será realizada por meio de simulações, com o mapeamento dos erros estáticos, de modo a identificar a sua precisão de posicionamento ao longo dos seus eixos de movimentação. / Traditionally, in industrial activities, there is a preference over robots whose architectures correspond to serial kinematic structures, i.e., its actuators and moving parts are arranged in series, one after another, forming a single open kinematic chain, in order to position the body terminal, the part of the robot that commonly contain a claw or a welding electrode. However, these robots have poor performance in applications that require precision, rigidity, high natural frequency and low cycle time. Due to these factors, both academic and industrial communities have expressed a growing interest in the use of another type of kinematic structure, called parallel, which is characterized by the presence of several independent kinematic chains, operating in parallel and simultaneously on the terminal organ. This unconventional architecture has potentially a number of advantages, such as high stiffness, lightness, speed, precision and high load capacity. However, there are a number of open problems that need further investigation in order to ensure that this trend change will be implemented effectively. The objective of this research is to contribute for the development of a parallel milling machine that presents a promising behavior in terms of precision and simplicity in construction, compared with the traditional parallel robots. Both requirements simplicity and precision will be achieved with the utilization of a modular structure and the introduction of an active docking bar, so that the final structure has three actuators working simultaneously. Thus, three members will be used, all active, forming a kinematic redundant structure with mobility equal to two. The expected behavior of the proposed architecture for the milling machine is evaluated through simulations, with the mapping of static errors that allow the identification of its positioning accuracy along the motion axes.

Durante o período de operação de um empreendimento mineiro, oportunidades de aumento de capacidade produtiva podem gerar ganhos significativos para uma empresa. Para os casos em que se viabiliza maior capacidade de produção da mina deve-se avaliar a capacidade de processamento da usina de beneficiamento, que assim inclui melhorias de desempenho ou expansão mediante adição de equipamentos. Este trabalho contempla a descrição das etapas de amostragem, caracterização do minério, a modelagem do circuito existente e a simulação para aumento da capacidade do circuito de moagem da usina da Mineração Serra Grande da AngloGold Ashanti, situada no município de Crixás no interior de Goiás. Os cenários simulados foram (1) adição de um terceiro moinho de bolas em série aos moinhos existentes, (2) adição de um terceiro moinho de bolas em paralelo ao circuito existente, (3) adição de um moinho vertical para processamento do produto dos dois moinhos de bolas existentes e (4) adição de uma prensa de rolos após o circuito de britagem. O propósito das quatro simulações foi avaliar a viabilidade técnica dos circuitos selecionados mediante modelagem matemática e simulação de processos, assim como dimensionar os novos equipamentos para tal fim. / During operation of the mining cycle, increases the throughput would generate significant capital savings for a company. For cases that enables higher mine production capacity, it must be evaluated plant capacity and also performance improvements or expansion by adding new equipment. This study includes the description of the sampling methodology, the minerals analysis, modeling of the existing circuit and simulation for a possible expansion, specifically for the grinding circuit at Mineração Serra Grande plant of AngloGold Ashanti group, located in Crixás, Goiás. the studied scenarios were: (1) adding a third ball mill in series with existing two ball mills, (2) adding a third ball mill in parallel with existing mills, (3) adding a vertical mill in series with existing mills and (4) adding high pressure grinding rolls to existing mills. The four simulations intend assess the technical feasibility of the circuits selected by mathematical modeling and simulation of processes and design new equipment for this purpose.

The proliferation of electric machines has drastically increased in recent years and is likely to increase into the future. This interest in the production of advanced, high power density electrical machines that are small in size has heightened the need for flexible manufacturing processes to produce their laminated components during short batch and prototyping production runs. A means of cost effective, accelerated prototyping of these machines will have a substantial impact on their design and optimization, reducing time requirements to produce and test a given design. A review of the current manufacturing methods for prototyping electric machines was conducted. In particular, laser cutting, electric discharge machining, and abrasive waterjet (AWJ) machining were researched as competitive processes. Each of these methods exhibits marked advantages and disadvantages that present the opportunity for a new process to compete. This work investigates the applicability of high throughput profile milling (HTPM) for the prototyping of advanced electric machines, specifically, the process parameter space for milling of electrical steels. The material response will be determined by characterizing its specific cutting energy and utilizing this to develop a model to predict cutting forces during the milling process. Optimal process parameters will be investigated to obtain maximum productivity and minimal burr formation. Finally, the impact of HTPM processing on the magnetic properties of electrical steels will be compared to that of a leading prototyping technology, AWJ machining.

Analytical force and dynamic models for material removal processes such as end and face milling do not account for material and process related uncertainties such as tool wear, tool breakage and material inhomogeneity. Optimization of material removal processes thus requires not only optimal process planning using analytical models but also on-line monitoring of the process so that adjustments, if needed, can be initiated to maximize the productivity or to avoid damaging expensive parts. In this thesis, a Polyvinylidene Fluoride (PVDF) sensor based process monitoring method that is independent of the cutting conditions and workpiece material is developed for measuring the cutting forces and/or torque in milling. The research includes the development of methods and hardware for wireless acquisition of time-varying strain signals from PVDF sensor-instrumented milling tools rotating at high speeds and transformation of the strains into the measurand of interest using quantitative physics-based models of the measurement system. Very good agreement between the measurements from the low cost PVDF sensors and the current industry standard, piezoelectric dynamometer, has been achieved. Three PVDF sensor rosettes are proposed for measuring various strain components of interest and are shown to outperform their metal foil strain gauge counterparts with significantly higher sensitivity and signal to noise ratio. In addition, a computationally efficient algorithm for milling chatter recognition that can adapt to different cutting conditions and workpiece geometry variations based on the measured cutting forces/torque signals is proposed and evaluated. A novel complex exponential model based chatter frequency estimation algorithm is also developed and validated. The chatter detection algorithm can detect chatter before chatter marks appear on the workpiece and the chatter frequency estimation algorithm is shown to capture the chatter frequency with the same accuracy as the Fast Fourier Transform (FFT). The computational cost of the chatter detection algorithm increases linearly with data size and the chatter frequency estimation algorithm, with properly chosen parameters, is shown to perform 10 times faster than the FFT. Both the cutting forces/torque measurement methodology and the chatter detection algorithm have great potential for shop floor application. The cutting forces/torque measurement system can be integrated with adaptive feedback controllers for process optimization and can also be extended to the measurement of other physical phenomena.

This thesis presents an investigation of novel laser assisted micromachining processes that addresses the limitations of micromachining of hard-to-machine materials. Two different laser assisted approaches are used to machine hard metals and high strength ceramics. For hard metals, the basic approach involves localized thermal softening of the workpiece material by focusing a solid-state continuous wave near infra-red laser beam in front of the micro milling tool (end mills of 0.1 to 0.5 mm diameter). By suitably controlling the laser power, spot size and scan speed, it is possible to produce a sufficiently large reduction in the flow strength of the work material and consequently the cutting forces and tool deflections. A force model is developed to predict the cutting forces in Laser Assisted Micro Milling (LAMM) of hard metals. For high strength ceramics, the approach involves use of a two step process. In the first step, thermal cracks are generated in a confined volume by the steep thermal gradients generated by laser irradiation of the workpiece. In the second step, the weakened region is removed by a micro grinding tool. The characterization and modeling of the process serve as bases for users of the two approaches to select optimal process parameters.

Thesis (Ph. D.)--University of Wollongong, 2005. / Typescript. Includes bibliographical references (leaf 111-114).

Djordjija B. Petkovski, Alexander H. Levis. / Bibliography: leaf 7. / "February 1985." / "...supported in part by the U.S.-Yugoslav Joint Board on Scientific and Technological Cooperation under Grant YOR-83/068."

Durante o período de operação de um empreendimento mineiro, oportunidades de aumento de capacidade produtiva podem gerar ganhos significativos para uma empresa. Para os casos em que se viabiliza maior capacidade de produção da mina deve-se avaliar a capacidade de processamento da usina de beneficiamento, que assim inclui melhorias de desempenho ou expansão mediante adição de equipamentos. Este trabalho contempla a descrição das etapas de amostragem, caracterização do minério, a modelagem do circuito existente e a simulação para aumento da capacidade do circuito de moagem da usina da Mineração Serra Grande da AngloGold Ashanti, situada no município de Crixás no interior de Goiás. Os cenários simulados foram (1) adição de um terceiro moinho de bolas em série aos moinhos existentes, (2) adição de um terceiro moinho de bolas em paralelo ao circuito existente, (3) adição de um moinho vertical para processamento do produto dos dois moinhos de bolas existentes e (4) adição de uma prensa de rolos após o circuito de britagem. O propósito das quatro simulações foi avaliar a viabilidade técnica dos circuitos selecionados mediante modelagem matemática e simulação de processos, assim como dimensionar os novos equipamentos para tal fim. / During operation of the mining cycle, increases the throughput would generate significant capital savings for a company. For cases that enables higher mine production capacity, it must be evaluated plant capacity and also performance improvements or expansion by adding new equipment. This study includes the description of the sampling methodology, the minerals analysis, modeling of the existing circuit and simulation for a possible expansion, specifically for the grinding circuit at Mineração Serra Grande plant of AngloGold Ashanti group, located in Crixás, Goiás. the studied scenarios were: (1) adding a third ball mill in series with existing two ball mills, (2) adding a third ball mill in parallel with existing mills, (3) adding a vertical mill in series with existing mills and (4) adding high pressure grinding rolls to existing mills. The four simulations intend assess the technical feasibility of the circuits selected by mathematical modeling and simulation of processes and design new equipment for this purpose.

Please read the abstract (Synopsis) in the section, 00front, of this document / Dissertation (M Eng (Control Engineering))--University of Pretoria, 2008. / Chemical Engineering / MEng / unrestricted

The goal of the thesis is to design a modeling CNC milling machine for machining of aluminum alloys including necessary calculations and drawing documentation. In the first part there is defined a CNC milling machine and there is a search in the area of small CNC milling machines that are present on the market. In the second part is the design including the computational documentation.