This master thesis work was aimed to enhance the designing of robots using cloud technologies. Analytical review of software to design robots, including PDM systems, was made. The specific features of such systems are presented and necessary modules are selected for designing the robot manipulator using CAD and PDM tools. 3D model of industrial robot was created using Semens NX CAD software. All the standards and regulatory documents related to the robotics design were considered. The design sequence of the robot manipulator with reference to standards (GOST 2.103-68 and GOST 19.102-77) is described. The project structure was created with use of Siemens Teamcenter PDM software and cloud technologies. / Данная магистерская диссертация направлена на внедрение технологий проектирования робототехнических систем в облаке. Спроектирован робот манипуляционного типа, создана электронная структура проекта в облаке с использованием программы PDM, проект размещен и организован для дальнейшего развития в облаке.

Materiais frágeis, tal como o silício, têm sido utilizados em sistemas microeletromecânicos, semicondutores e dispositivos ópticos infravermelhos. Estes materiais são considerados de difícil usinabilidade devido à tendência de sofrerem fraturas. O grande desafio na usinagem dos materiais cristalinos é alcançar uma remoção de material por deformações plásticas (regime dúctil), pois, nessas condições as superfícies ópticas usinadas são geradas sem nenhum dano. Esse regime de usinagem pode ser alcançado em escalas submicrométricas, de forma que, em muitos cristais, as pressões impostas pela ferramenta são altas o suficiente para conduzirem uma transformação de fase do material, favorecendo, assim, a usinagem. Embora pesquisas sobre a relação entre a endentação e a usinagem tenham sido desenvolvidas, a busca por métodos matemáticos com base nas forças e deformações de endentação para serem usados em usinagem de modo a identificar as condições ótimas para remoção de material em regime dúctil não são triviais. O presente trabalho propõe uma relação mais direta com os resultados de endentação para determinar os parâmetros ótimos de usinagem dos materiais frágeis, correlacionando a área da face do endentador em contato e a área efetiva da secção de corte em usinagem. Para isso, ensaios de endentação e experimentos de usinagem com ferramenta de diamante foram realizados em escala micro e nanométrica. O material analisado aqui foi o silício monocristalino (100). Uma matriz experimental foi planejada para as possíveis correlações da variação do ângulo de saída da ferramenta e do avanço de usinagem com as áreas de endentação e o surgimento das trincas e fraturas; forças de usinagem e a pressão de transição frágil-dúctil; tensão residual; espessura crítica de corte e o estado das superfícies usinadas. Em relação às durezas obtidas, foi preciso separá-las em dois estágios: antes do surgimento das trincas durante a endentação e depois desse ponto. Durante a usinagem, a melhor remoção de material em regime dúctil foi obtida na direção mais dura do silício. Os ângulos de saída que proporcionaram resultados desfavoráveis em termos de integridade superficial foram o de -25° e ângulos mais negativos que -60°. A pressão de transição se apresentou de 12 GPa a 13 GPa, sendo que as energias específicas de corte seguiram o mesmo comportamento: 9 j/mm³ a 10 j/mm³ respectivamente. A tensão residual se mostrou inversamente proporcional às forças de usinagem. As espessuras crítica-efetivas de corte variaram de 100 nm a 560 nm. Os valores das espessuras críticas de corte estimadas pelos ensaios de endentação variaram de 200 nm a 530 nm. Portanto, foi possível mostrar que os valores de espessura crítica estimados pelo método proposto, com base nos resultados de endentação, corresponderam muito bem às espessuras críticas obtidas nos experimentos de usinagem. Assim sendo, torna-se possível determinar por meio de tal técnica os valores ótimos de usinagem, podendo ser aplicada para qualquer material cristalino. / Brittle materials, such as silicon, have been used in microelectromechanical systems, semiconductor and infrared optical devices. These types of materials are considered of difficult to machine due to the tendency to suffer fractures. The great challenge in the machining of crystalline materials is to achieve a removal of material by plastic deformations (ductile regime), because in these conditions the machined optical surfaces are generated without any superficial damage. This type of machining can be achieved on a submicrometric machining scale, so that the pressures imposed by the tool are high and lead to a phase transformation of many crystals favoring the machining in ductile regime. Although research on the relationship between microindentation and micromachining has been developed, the search for mathematical methods based on the forces and the deformations of indentation to be used in machining in order to identify the machining conditions under regime ductile are non-trivial. The present work proposes a more direct relationship with the results of the indentation to determine the optimal parameters of the fragile materials, correlating the indenter face area and the cutting section effective area in machining. For this purpose, indentation tests and diamond tool machining experiments were carried out on a micro and nanometric scale. The material analyzed here was monocrystalline silicon (100). An experimental matrix was planned for the possible correlations of the variation of the tool rake angle and of the machining feed with the areas of indentation and the beginning of cracks and fractures; cutting forces and the fragile-ductile transition pressure; residual stress; critical cutting thickness and the state of machined surfaces. In relation to the hardness obtained, it was necessary to separate them in two stages: before the emergence of the cracks during the indentation and after that point. During machining, the best removal of ductile material was obtained in the hardest direction of the silicon. The rake angles which gave unfavorable results in terms of surface integrity were -25° and angles more negative than -60°. The transition pressure reached values from 12 GPa to 13 GPa, and the specific shear energies followed the same behavior: 9 j/mm³ at 10 j/mm³ respectively. The residual stress was inversely proportional to the machining forces. Critical-effective uncut thicknesses ranged from 100 nm to 560 nm. The values of the critical uncut thicknesses estimated by the indentation tests ranged from 200 nm to 530 nm. Therefore, it was possible to show that the critical thickness values estimated by the proposed method, based on indentation results, corresponded very well to the critical thickness obtained in the machining experiments. Thus, it is possible to determine by means of such a technique the optimum values of machining, which can be applied to crystalline material.

Materiais frágeis, tal como o silício, têm sido utilizados em sistemas microeletromecânicos, semicondutores e dispositivos ópticos infravermelhos. Estes materiais são considerados de difícil usinabilidade devido à tendência de sofrerem fraturas. O grande desafio na usinagem dos materiais cristalinos é alcançar uma remoção de material por deformações plásticas (regime dúctil), pois, nessas condições as superfícies ópticas usinadas são geradas sem nenhum dano. Esse regime de usinagem pode ser alcançado em escalas submicrométricas, de forma que, em muitos cristais, as pressões impostas pela ferramenta são altas o suficiente para conduzirem uma transformação de fase do material, favorecendo, assim, a usinagem. Embora pesquisas sobre a relação entre a endentação e a usinagem tenham sido desenvolvidas, a busca por métodos matemáticos com base nas forças e deformações de endentação para serem usados em usinagem de modo a identificar as condições ótimas para remoção de material em regime dúctil não são triviais. O presente trabalho propõe uma relação mais direta com os resultados de endentação para determinar os parâmetros ótimos de usinagem dos materiais frágeis, correlacionando a área da face do endentador em contato e a área efetiva da secção de corte em usinagem. Para isso, ensaios de endentação e experimentos de usinagem com ferramenta de diamante foram realizados em escala micro e nanométrica. O material analisado aqui foi o silício monocristalino (100). Uma matriz experimental foi planejada para as possíveis correlações da variação do ângulo de saída da ferramenta e do avanço de usinagem com as áreas de endentação e o surgimento das trincas e fraturas; forças de usinagem e a pressão de transição frágil-dúctil; tensão residual; espessura crítica de corte e o estado das superfícies usinadas. Em relação às durezas obtidas, foi preciso separá-las em dois estágios: antes do surgimento das trincas durante a endentação e depois desse ponto. Durante a usinagem, a melhor remoção de material em regime dúctil foi obtida na direção mais dura do silício. Os ângulos de saída que proporcionaram resultados desfavoráveis em termos de integridade superficial foram o de -25° e ângulos mais negativos que -60°. A pressão de transição se apresentou de 12 GPa a 13 GPa, sendo que as energias específicas de corte seguiram o mesmo comportamento: 9 j/mm³ a 10 j/mm³ respectivamente. A tensão residual se mostrou inversamente proporcional às forças de usinagem. As espessuras crítica-efetivas de corte variaram de 100 nm a 560 nm. Os valores das espessuras críticas de corte estimadas pelos ensaios de endentação variaram de 200 nm a 530 nm. Portanto, foi possível mostrar que os valores de espessura crítica estimados pelo método proposto, com base nos resultados de endentação, corresponderam muito bem às espessuras críticas obtidas nos experimentos de usinagem. Assim sendo, torna-se possível determinar por meio de tal técnica os valores ótimos de usinagem, podendo ser aplicada para qualquer material cristalino. / Brittle materials, such as silicon, have been used in microelectromechanical systems, semiconductor and infrared optical devices. These types of materials are considered of difficult to machine due to the tendency to suffer fractures. The great challenge in the machining of crystalline materials is to achieve a removal of material by plastic deformations (ductile regime), because in these conditions the machined optical surfaces are generated without any superficial damage. This type of machining can be achieved on a submicrometric machining scale, so that the pressures imposed by the tool are high and lead to a phase transformation of many crystals favoring the machining in ductile regime. Although research on the relationship between microindentation and micromachining has been developed, the search for mathematical methods based on the forces and the deformations of indentation to be used in machining in order to identify the machining conditions under regime ductile are non-trivial. The present work proposes a more direct relationship with the results of the indentation to determine the optimal parameters of the fragile materials, correlating the indenter face area and the cutting section effective area in machining. For this purpose, indentation tests and diamond tool machining experiments were carried out on a micro and nanometric scale. The material analyzed here was monocrystalline silicon (100). An experimental matrix was planned for the possible correlations of the variation of the tool rake angle and of the machining feed with the areas of indentation and the beginning of cracks and fractures; cutting forces and the fragile-ductile transition pressure; residual stress; critical cutting thickness and the state of machined surfaces. In relation to the hardness obtained, it was necessary to separate them in two stages: before the emergence of the cracks during the indentation and after that point. During machining, the best removal of ductile material was obtained in the hardest direction of the silicon. The rake angles which gave unfavorable results in terms of surface integrity were -25° and angles more negative than -60°. The transition pressure reached values from 12 GPa to 13 GPa, and the specific shear energies followed the same behavior: 9 j/mm³ at 10 j/mm³ respectively. The residual stress was inversely proportional to the machining forces. Critical-effective uncut thicknesses ranged from 100 nm to 560 nm. The values of the critical uncut thicknesses estimated by the indentation tests ranged from 200 nm to 530 nm. Therefore, it was possible to show that the critical thickness values estimated by the proposed method, based on indentation results, corresponded very well to the critical thickness obtained in the machining experiments. Thus, it is possible to determine by means of such a technique the optimum values of machining, which can be applied to crystalline material.

[pt] A previsão do comportamento de materiais quase-frágeis desde o início de sua degradação até o aparecimento de fraturas pode ser apoiada pelo o uso da mecânica do dano contínuo. Efeitos térmicos, além de mecânicos, podem apresentar contribuição significativa na resposta do material e da estrutura. Nesse sentido, o acoplamento entre os distintos ramos da física descrevem a livre conversão da energia em suas diversas formas. O presente trabalho trata do acoplamento térmico em problemas de dano em materiais quase frágeis, em que são abordados o modelo de dano isótropico e os critério de danificação, bem como leis de evolução do dano térmico e mecânico. Além disso, aspectos inerentes à termodinâmica e transferência de calor são explicitados. O efeito térmico na análise estrutural inicia-se com uma investigação sobre os requisitos para que variações de temperatura produzam tensões térmicas e prossegue com um estudo do efeito no material, que reduz as propriedades de módulo de elasticidade, resistência à tração e à compressão além da energia de fratura. No entanto, a modelagem em elementos finitos da degradação da rigidez da estrutura devido ao processo de dano apresenta problemas de dependência da malha, que requerem o uso de técnicas de regularização da solução. Esse tópico é também abordado no trabalho. Exemplos numéricos demonstram os efeitos do acoplamento termomecânico na previsão da integridade de estruturas de materias quase-frágeis. / [en] Predicting the behavior of almost brittle materials in face of material degradation up to fracture is a topic that can be addressed with the use of continuous damage mechanics. Thermal effects, in addition to mechanical ones, may contribute significantly to the structural and material response. In this sense, the coupling between the different branches of physics takes into account the free conversion of energy in its various forms. The present work is about the thermal-mechanical coupling in in quasi-brittle materials, in which the isotropic damage model and the damage criteria are addressed, as well as the laws of evolution of thermal and mechanical damage. In addition, aspects inherent to thermodynamics and heat transfer are explained. The thermal effect in the structural analysis begins with an investigation of the requirements for temperature variations to produce thermal stresses and follows with a study of the effect of temperature on the material, which affects the elasticity module, the tensile and compression strength, in addition to the fracture energy. However, finite element modeling of stiffness degradation due to the damage process leads to problems of dependence on the mesh, which requires the use of regularization techniques, as addressed in this work. Numerical examples demonstrate the effects of thermo-mechanical coupling in the assessment of structure integrity.

This master thesis work was aimed to enhance the computer aided modeling of cutting processes for hard brittle materials in optical and microelectronic industry. The parametric computer model of scribing the brittle wafer by diamond tool was developed using ANSYS APDL language and quasi-static conditions of treatment. Scribing of glass plates was realized by conic diamond tool on Roland CNC machine with different cutting parameters. Some experiments were made with coated glass plates. The surface quality of scribed plates was analyzed using AXIO ZEISS confocal microscope. The developed computer model enables predicting the defects zones in scribed brittle plate and searching the optimal cutting parameters and tool geometry. / Данная магистерская диссертация направлена на внедрение компьютерного моделирования технологических процессов резания применитльно к твердым хрупким материалам в оптической и электронной индустрии. Создана параметрическая компьютерная модель процесса скрайбирования алмазным инструментом для хрупкой пластины с использованием языка программирования ANSYS APDL в рамках квазистатического приближения. Скрайбирование стеклянныхз пластин было произведено коническим инструментом на станке с ЧПУ марки Roland с различными параметрами режима резания. Часть экспериментов проведена на пластинах с покрытием. Качество поверхности после скрайбирования было исследовано с помощью конфокального микроскопа AXIO ZEISS. Построенная компьютерная модель позволяет прогнозировать зону дефектности в скрайбированных хрупких пластинах и оптимизировать параметры режима резания, а также геометрию режущего инструмента.

The investigation of failure in brittle materials, subjected to dynamic transient loading conditions, represents one of the ongoing challenges in the mechanics community. Progresses on this front are required to support the design of engineering components which are employed in applications involving extreme operational regimes. To this purpose, this thesis is devoted to the development of a framework which provides the capabilities to model how crack patterns form and evolve in brittle materials and how they affect the quantitative description of failure. The proposed model is developed within the context of diffusive interfaces which are at the basis of a new class of theories named phase field models. In this work, a set of additional features is proposed to expand their domain of applicability to the modelling of (i) rate and (ii) pressure dependent effects. The path towards the achievement of the first goal has been traced on the desire to account for micro-inertia effects associated with high rates of loading. Pressure dependency has been addressed by postulating a mode-of-failure transition law whose scaling depends upon the local material triaxiality. The governing equations have been derived within a thermodynamically-consistent framework supplemented by the employment of a micro-forces balance approach. The numerical implementation has been carried out within an updated lagrangian finite element scheme with explicit time integration. A series of benchmarks will be provided to appraise the model capabilities in predicting rate-pressure-dependent crack initiation and propagation. Results will be compared against experimental evidences which closely resemble the boundary value problems examined in this work. Concurrently, the design and optimization of a complimentary, improved, experimental characterization platform, based on the split Hopkinson pressure bar, will be presented as a mean for further validation and calibration.

They analyzed the various factors affecting the design or evaluation of structural glass. Within evaluation of structural glass element is checked selected concepts of linear elastic fracture mechanics. For modeling is used programme system ANSYS based finite element method. The results are compared with the analytical solution.

Les simulations numériques des fissures fragiles par les modèles d’endommagement à gradient deviennent main- tenant très répandues. Les résultats théoriques et numériques montrent que dans le cadre de l’existence d’une pre-fissure la propagation suit le critère de Griffith. Alors que pour le problème à une dimension la nucléation de la fissure se fait à la contrainte critique, cette dernière propriété dimensionne le paramètre de longueur interne.Dans ce travail, on s’attarde sur le phénomène de nucléation de fissures pour les géométries communément rencontrées et qui ne présentent pas de solutions analytiques. On montre que pour une entaille en U- et V- l’initiation de la fissure varie continument entre la solution prédite par la contrainte critique et celle par la ténacité du matériau. Une série de vérifications et de validations sur diffèrent matériaux est réalisée pour les deux géométries considérées. On s’intéresse ensuite à un défaut elliptique dans un domaine infini ou très élancé pour illustrer la capacité du modèle à prendre en compte les effets d’échelles des matériaux et des structures.Dans un deuxième temps, ce modèle est étendu à la fracturation hydraulique. Une première phase de vérification du modèle est effectuée en stimulant une pré-fissure seule par l’injection d’une quantité donnée de fluide. Ensuite on étudie la simulation d’un réseau parallèle de fissures. Les résultats obtenus montrent qu’il a qu’une seule fissure qui se propage et que ce type de configuration minimise mieux l’énergie la propagation d’un réseau de fractures. Le dernier exemple se concentre sur la stabilité des fissures dans le cadre d’une expérience d’éclatement à pression imposée pour l’industrie pétrolière. Cette expérience d’éclatement de la roche est réalisée en laboratoire afin de simuler les conditions de confinement retrouvées lors des forages.La dernière partie de ce travail se concentre sur la rupture ductile en couplant le modèle à champ de phase avec les modèles de plasticité parfaite. Grâce à l’approche variationnelle du problème on décrit l’implantation numérique retenue pour le calcul parallèle. Les simulations réalisées montrent que pour une géométrie légèrement entaillée la phénoménologie des fissures ductiles comme par exemple la nucléation et la propagation sont en concordances avec ceux reportées dans la littérature. / Phase-field models, sometimes referred to as gradient damage, are widely used methods for the numerical simulation of crack propagation in brittle materials. Theoretical results and numerical evidences show that they can predict the propagation of a pre-existing crack according to Griffith’s criterion. For a one- dimensional problem, it has been shown that they can predict nucleation upon a critical stress, provided that the regularization parameter is identified with the material’s internal characteristic length.In this work, we draw on numerical simulations to study crack nucleation in commonly encountered geometries for which closed-form solutions are not available. We use U- and V-notches to show that the nucleation load varies smoothly from the one predicted by a strength criterion to the one of a toughness criterion when the strength of the stress concentration or singularity varies. We present validation and verification of numerical simulations for both types of geometries. We consider the problem of an elliptic cavity in an infinite or elongated domain to show that variational phase field models properly account for structural and material size effects.In a second movement, this model is extended to hydraulic fracturing. We present a validation of the model by simulating a single fracture in a large domain subject to a control amount of fluid. Then we study an infinite network of pressurized parallel cracks. Results show that the stimulation of a single fracture is the best energy minimizer compared to multi-fracking case. The last example focuses on fracturing stability regimes using linear elastic fracture mechanics for pressure driven fractures in an experimental geometry used in petroleum industry which replicates a situation encountered downhole with a borehole called burst experiment.The last part of this work focuses on ductile fracture by coupling phase-field models with perfect plasticity. Based on the variational structure of the problem we give a numerical implementation of the coupled model for parallel computing. Simulation results of a mild notch specimens are in agreement with the phenomenology of ductile fracture such that nucleation and propagation commonly reported in the literature.