Mobila hydrauliska ventiler används ofta i tunga industrier för att styra hydrauliska system för att hantera material. Funktionaliteten är kritisk i dessa situationer då det utgör en miljöfara och säkerhetsfara om funktionaliteten inte är uppnådd. För att säkerställa funktionaliteten kvalitetskontrollerar Nordhydraulic samtliga ventiler i en testbänk innan de skickas till kund. Läckage och manöverkraft är några av de parametrar som testas. Om en ventil inte blir godkänd omarbetas ventilen för att sedan testas om igen. Detta medför interna kvalitetsbristkostnader för Nordhydraulic. Examensarbetet syftade till att reducera ventilavvikelser vid slutprovning genom att identifiera vilka rotorsaker som bidragit till avvikelserna, utforma ett visuellt sätt att övervaka ventilavvikelserna samt att ge rekommendationer till förbättringsåtgärder för att reducera dessa. Examensarbete genomfördes med hjälp av Andersen och Fagerhaugs (2014) föreslagna metod för rotorsaksanalys. Resultatet av examensarbetet visade att slidtillverkningsprocessen, bristfällig dokumentation av data och arbetsinstruktioner var rotorsaker som har bidragit till ventilavvikelserna vid slutprovning. Enligt operatörerna var slidbyte den mest frekventa åtgärden när en ventil inte blir godkänd. Sliderna kvalitetskontrolleras under tillverkningen, men dokumenteras inte. Variationen i slidernas tillverkningsprocess kan därför inte kvantifieras eller uppskattas på ett tillfredsställande sätt, vilket innebar att det var svårt att bedöma huruvida sliderna tillverkas inom de uppsatta toleranserna. Resultatet visade även på utmaningar med dokumentationen av provdatan i enlighet med de specificerade instruktionerna. Detta betonar vikten av förstärkta dokumentationsrutiner för att säkerställa fullständighet i provdatabasen och därigenom förbättra övervakningen av ventiltesterna. Nordhydraulic rekommenderas att utöka sin statistiska processtyrning för slidtillverkningen med hjälp av ett ramverk som examensarbetet har tagit fram. Genom att definiera huruvida slidtillverkningsprocessen är stabil och duglig kan förbättringsarbeten utföras. Examensarbetet har också utformat en dashboard som Nordhydraulic kan använda för att övervaka slutprovningen visuellt och upptäcka anomalier vid slutprovningen. Sammanfattningsvis fokuserar examensarbetet på att reducera avvikelserna hos ventiler vid slutprovning för Nordhydraulic. De identifierade rotorsakerna, tillsammans med det föreslagna ramverket och den visuella övervakningsmetoden, ger värdefulla insikter för Nordhydraulic att förbättra sina kvalitetskontrollprocesser, minimera avvikelser och säkerställa högkvalitativa ventiler till sina kunder. / Mobile hydraulic valves are frequently used in heavy industries for material handling, thanks to their high power-to-weight ratio. Functionality is critical in these scenarios as it poses both environmental and safety hazards if not achieved. To ensure functionality, Nordhydraulic performs quality inspections on all valves before they are shipped to customers, utilizing a test bench. Parameters such as leakage and actuation force are among those tested. If a valve fails to meet the requirements, it undergoes rework and is retested, resulting in internal failure costs for Nordhydraulic.  The objective of this thesis was to reduce valve deviations during final testing by identifying the root causes contributing to these deviations, designing a visual monitoring approach for valve deviations, and providing recommendations for improvement measures to reduce valve deviations. This thesis utilized the root cause analysis method proposed by Andersen and Fagerhaug (2014). The results of the thesis revealed that the spool manufacturing process, insufficient data documentation, and work instructions were identified as root causes contributing to valve deviations during final testing. According to the operators, replacing the spool was the most frequent corrective action when a valve failed to meet the requirements. The variation in the spool manufacturing process could not be quantified or estimated satisfactorily, making it difficult to assess whether the components were manufactured within the specified tolerances.  The results also indicated challenges with the documentation of test data in accordance with the specified instructions. This emphasizes the importance of strengthened documentation procedures to ensure completeness in the test database and thereby enhance the monitoring of valve tests. Nordhydraulic is recommended to increase their statistical process control using the framework developed in this thesis. By defining the stability and capability of the spool manufacturing process to produce within the specified tolerances, improvement efforts can be undertaken. The thesis has also designed a dashboard that Nordhydraulic can utilize to visually monitor the final testing process and detect anomalies. In conclusion, this thesis addresses the issue of reducing valve deviations during final testing for Nordhydraulic. The identified root causes, along with the proposed framework and visual monitoring approach, provide valuable insights for Nordhydraulic to enhance their quality control processes, minimize deviations, and ensure high-quality valves for their customers.

As new emission regulations in the EU set more stringent requirements on greenhouse gas (GHG) emissions, original equipment manufacturers (OEM) must find ways to align with the EUs sustainability goals. By transitioning to more electrically driven machinery, operators of off-highway vehicles can benefit from better fuel economy, lower greenhouse gas emissions and less air pollution. This study explores the possibilities of electrifying the hydraulic tilt function of the Steelwrist X18 Tiltrotator, a critical component in off-highway vehicle equipment. According to Steelwrist, other original equipment manufacturers such as VOLVO CE have asked when Steelwrist can deliver a fully electric tiltrotator. Key findings show that the chosen electromechanical actuator concept, the EWELLIX CASM-100-RA, with a 8.2 [kW] motor kit, have acceptable performance, but does not to meet every specified requirement. Installing two CASM-100-RA actuators on the X18 results in a 17% weight increase that would adversely affects the excavator’s load-carrying capacity and work efficiency. Despite the drawbacks, the paper acknowledges that the other considered concepts would have resulted in even heavier and/or bulkier solutions / I och med nya utsläppsregler inom EU som ställer högre krav på växthusgasutsläpp måste tillverkare av originalutrustning hitta sätt att anpassa sig till EU:s hållbarhetsmål. Genom att övergå till mer elektriskt drivna maskiner kanförare av anläggningsfordon dra nytta av bättre bränsleekonomi, lägre utsläpp av växthusgaser och minskade luftföroreningar. Denna studie utforskar möjligheterna att elektrifiera den hydrauliska tiltfunktionen på Steelwrist X18 Tiltrotator, ett vanligt verktyg inom anläggningsindustrin. Enligt Steelwrist har andra tillverkare av originalutrustning, såsom VOLVO CE, visat intresse för när Steelwrist kan leverera en helt elektrisk tiltrotator. Elektrifieringen av anläggningsindustrin är fortfarande i sin linda och endast kompaktfordon finns för närvarande på marknaden. Detta är en anledning till att det ännu inte finns en lösning på detta problem. En annan förklaring är den oöverträffade effekttätheten hos konventionella hydraulcylindrar, vilket gör dem svåra att ersätta. Forskningsfrågorna besvarades genom en grundlig undersökning av den senaste tekniken och experiment för att testa den hydrauliska prestandan hos X18 Tiltrotator. Huvudresultaten visar att det valda EMA-konceptet, specifikt EWELLIX CASM-100-RA med 8,2 [kW]-motor, inte uppfyller de inledande kravspecifikationerna på grund av en oacceptabel ökning av den totala vikten på X18 Tiltrotator .Viktökningen skulle påverka grävmaskinens lastkapacitet och arbetskapacitet negativt. Trots nackdelarna tilläggs det att de andra övervägda koncepten skulle ha resulterat i ännu tyngre och/eller skrymmande lösningar. Denna masteruppsats har belyst de mest utmanande aspekterna av att elektrifiera tiltfunktionen i X18 tiltrotatorn. Dessutom har betydelsen av omfattande och detaljerad prestandadata varit en annan nyckelinsikt i projektet. Prestandadata har visat sig vara avgörande vid utformningen av elektriska tiltaktuatorer för denna tillämpning. Framtida arbete kan ytterligare undersöka anpassade elektromekaniska aktuatorer.

Electro Hydrostatic Actuators (EHA) are emerging as a viable option for industrial machine builders as the design combines the best of both electro-mechanical and electro-hydraulic technologies. The EHA is a highly integrated, compact alternative to traditional hydraulic solutions. Automation engineers moving toward electro-mechanical actuation in pursuit of energy efficiency and environmental cleanliness, will find an EHA an attractive option for high force density actuators. This paper will address the factors to consider when assessing an industrial machine’s application suitability for this latest innovation in actuation. It describes principal base circuits, a concept for EHA building blocks and a realized pilot application as well as challenges on actuator and components level.

The dissertation thesis deals with optimization of the selected areas of the hydraulic system for small and medium transport aircrafts. Newly developed small aircraft EV-55 is a representative in the category of the small aircrafts . The selected areas of the hydraulic systems , important and useful for domestic producers of the hydraulic devices and whole hydraulic systems for the airplane EV-55 , are subjected to optimization efforts in the dissertation thesis. Design parameters of the hydraulic system (type of hydraulic source, level of pressure, weight of connecting tube), hydraulic devices ( tribology, machining process), simulation of the servomechanism and areas of diagnostic of technical status of the hydraulic system are optimized in the dissertation thesis.

Este trabalho apresenta o controle de posição e orientação de um modelo não linear de Plataforma de Stewart com seis graus de liberdade construído no ambiente de sistemas multicorpos ADAMS® desenvolvido pela Mechanical Dynamics, Inc. O modelo não linear é exportado para o ambiente SIMULINK® desenvolvido pela MathWorks, Inc., onde o controle de posição e orientação é realizado a partir da linearização do modelo e a aplicação de um sistema seguidor com realimentação de estados. Utililiza-se, também o SIMULINK® para implementar a dinâmica de um sistema servoválvula e cilindro hidráulico com um servocontrole de pressão e assim simular o comportamento dinâmico de um simulador de vôo com acionamento hidráulico. A utilização destes pacotes comerciais visa obter uma economia de tempo e esforço na modelagem de sistemas mecânicos complexos e na programação para obtenção da resposta do sistema no tempo, além de facilitar a análise de várias configurações de Plataformas de Stewart / This work shows the position and orientation control of a non-linear model of a Stewart platform with six degree of freedom developed in the multibody systems environment ADAMS® (Mechanical Dynamics, Inc.). The non-linear model is exported to SIMULINK® (MathWorks, Inc.), where the position and orientation control is accomplished using the linear model and applied as a tracking-system with state-feedback. The SIMULINK® is also used to implement the dinamics of the servovalve and hydraulic cylinder with pressure-control servo and so simulate the dynamic behavior of the flight simulator with hydraulic drive. These commercial packages are used seeking to save time and effort in the modeling of complex mechanical systems and in the programming to get the time response of the system, facilitating the analysis of several Stewart Platforms configurations.

Este trabalho apresenta o controle de posição e orientação de um modelo não linear de Plataforma de Stewart com seis graus de liberdade construído no ambiente de sistemas multicorpos ADAMS® desenvolvido pela Mechanical Dynamics, Inc. O modelo não linear é exportado para o ambiente SIMULINK® desenvolvido pela MathWorks, Inc., onde o controle de posição e orientação é realizado a partir da linearização do modelo e a aplicação de um sistema seguidor com realimentação de estados. Utililiza-se, também o SIMULINK® para implementar a dinâmica de um sistema servoválvula e cilindro hidráulico com um servocontrole de pressão e assim simular o comportamento dinâmico de um simulador de vôo com acionamento hidráulico. A utilização destes pacotes comerciais visa obter uma economia de tempo e esforço na modelagem de sistemas mecânicos complexos e na programação para obtenção da resposta do sistema no tempo, além de facilitar a análise de várias configurações de Plataformas de Stewart / This work shows the position and orientation control of a non-linear model of a Stewart platform with six degree of freedom developed in the multibody systems environment ADAMS® (Mechanical Dynamics, Inc.). The non-linear model is exported to SIMULINK® (MathWorks, Inc.), where the position and orientation control is accomplished using the linear model and applied as a tracking-system with state-feedback. The SIMULINK® is also used to implement the dinamics of the servovalve and hydraulic cylinder with pressure-control servo and so simulate the dynamic behavior of the flight simulator with hydraulic drive. These commercial packages are used seeking to save time and effort in the modeling of complex mechanical systems and in the programming to get the time response of the system, facilitating the analysis of several Stewart Platforms configurations.

Orientador: Edevar Luvizotto Junior / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Civil, Arquitetura e Urbanismo / Made available in DSpace on 2018-08-07T09:53:33Z (GMT). No. of bitstreams: 1 ArandaSaldana_EdwinAntonio_M.pdf: 1687985 bytes, checksum: 0c5e968a32c41fdf3cc83eca866e6ea6 (MD5) Previous issue date: 2006 / Resumo: O presente trabalho apresenta as bases para a elaboração de um modelo hidráulico computacional baseado na filosofia de programação orientada por objetos (POO) para o tratamento de problemas de escoamento de fluidos em condutos forçados em regime permanente e transitório. Na modelação hidráulica foi empregado um modelo dinâmico inercial elástico com solução através do Método das Características (MOC). Os estudos de casos apresentados mostram o potencial da ferramenta proposta para a análise de escoamentos de instalações hidráulicas em condutos forçados / Abstract: The present work shows the basis for the elaboration of a computational hydraulic model based on the object oriented programming (POO) philosophy for the management of flow problems such as flow rate in pipe systems in steady and unsteady states. The hydraulic modeling is based on the inertial dynamic model with solved through the Method of Characteristics (MOC). The different cases of studies presented in this dissertation show the potential of this tool proposal for the analysis of pipe flow installations in hydraulic systems / Mestrado / Recursos Hidricos / Mestre em Engenharia Civil

La recherche de l’eau a été une nécessité, depuis l’Antiquité jusqu’à nos jours. Au Proche-Orient, la répartition des ressources en l’eau est très inégale et les précipitations sont presque partout insuffisantes. L’homme a développé des systèmes de captage, d’accumulation, d’adduction, d’élévation et de distribution de l’eau de plus en plus variés et élaborés. Les Assyriens, les Grecs, les Nabatéens et les Romains ont transmis ces acquis à l’Orient médiéval que les savants musulmans développeront comme une science et appliqueront dans divers régions. Le jardin, comme l’irrigation des champs et l’approvisionnement des villes et villages, exige des ressources en eau permanente. Notre étude, qui cherchait à vérifier si l’acquisition et la distribution de celle-ci exigeaient une organisation différente et des techniques particulières, apporte une réponse négative. Ce sont aussi ces mêmes systèmes qui alimentent les cités en eau courante ; les techniques ont peu changé, tout comme leur utilisation. En revanche, nous nous sommes rendu compte que le jardin – dont la fonction a changé – passant de l’enclos sacré des temples de l’Antiquité à un espace d’agrément et de prestige, a suscité la créativité des hydrauliciens, médiévaux surtout, et modernes, au service de l’élite. Comme souligné dans cette recherche, certaines techniques ont été mises en œuvre dans diverses régions, parfois dans les plus répulsives, peut-être par défi. À des fins esthétiques et ludiques, les savants ont inventé des bassins élaborés, jeux d’eau et fontaines, ce que nous apprennent les sources textuelles ; malheureusement, les témoins archéologiques sont très pauvres à cet égard. En effet, l’exemple de la noria semble être mieux documenté que d’autres systèmes. Nous pouvons cependant montrer que le jardin de l’élite, l’évolution de son concept et de ses formes, a été un puissant stimulant pour le développement des techniques hydrauliques. / The research of water has always been a necessity, since Antiquity to the present days. In the Middle-East, the distribution of resources is quite unequal and the precipitations are almost insufficient everywhere. Mankind developed more and more various and elaborated systems for water channeling, accumulating, adduction, elevation and supply. Assyrians, Greeks, Nabateans and Romans transmitted their knowledge to the Medieval Middle-East, then developed by Muslim intellectuals as a science and applied in numerous regions. The garden, like fields, cities or villages supply, requires permanent water resources. I intended to verify if water origin and distribution necessitated a different organization and specific techniques, my study show they did not. There are different systems for supplying water for cities; techniques softly changed, as their use. However, I realized the garden, whose function changed and which firstly was a temple sacred enclosure during the Antiquity, became an ornamental and prestigious area, then aroused medieval and modern hydraulic engineers’ creativity at the service of the elite. We underlined, in this research, several techniques used in various regions, occasionally the most arid ones, perhaps as a challenge. For aesthetic and playful aims, according to the texts, the scientists invented elaborated ponds, water games and fountains; unfortunately, archaeological vestiges are very rare. Indeed, the example of the noria seems to be better documented than any other systems. Nonetheless, I show the elite gardens, its concept and layout evolution, was a stimulating element for hydraulic techniques development.

The aim of this work is to design a robotic hand, which will be controlled by wireless Wi-Fi, will be equipped with a camera and for easier operation will be designed control glove. The first part of the thesis is a theoretical analysis, various variants of sensors are described, which can be used for motion detection, each drive units and their control. Next chapters are focused on used electronic modules and microcontrollers. The second part is practical and is focused on the mechanical design of a five-finger robotic hand and fixing to a robotic arm. Also described is the control electronics of the entire robotic hand and the programmed firmware. Next, the design and implementation of the control glove is described. The last chapter describes the programmed application for the Android operating system.

Electro Hydrostatic Actuators (EHA) are emerging as a viable option for industrial machine builders as the design combines the best of both electro-mechanical and electro-hydraulic technologies. The EHA is a highly integrated, compact alternative to traditional hydraulic solutions. Automation engineers moving toward electro-mechanical actuation in pursuit of energy efficiency and environmental cleanliness, will find an EHA an attractive option for high force density actuators. This paper will address the factors to consider when assessing an industrial machine’s application suitability for this latest innovation in actuation. It describes principal base circuits, a concept for EHA building blocks and a realized pilot application as well as challenges on actuator and components level.