Reservdelspaketering av cylinderhuvuden till personbilsmotorer för eftermarknaden sker idag för hand på ett företag i Skövde som tillverkar bilmotorer. Samtliga cylinderhuvuden lyfts för hand och placeras i wellpapplådor som levereras till återförsäljare. För att förbättra ergonomin för de anställda vid paketeringen samt att minska risken för skador på både anställda och cylinderhuvud har företaget efterfrågat ett lyftverktyg för att lyfta cylinderhuvudena med av konsultföretaget ÅF. Målet med detta arbete är således att utveckla en eller flera modeller av lyftverktyg som kan lyfta så många olika varianter av cylinderhuvud som möjligt samt wellpapplådan som dessa paketeras i.   Som utgångspunkt för konstruktionen av lyftverktyget utförs en litteraturstudie inom området lyftverktyg. Denna litteraturstudie innefattar både generella lyftverktyg som finns på marknaden samt en undersökning av företagets befintliga lyftverktyg. Litteraturstudien visar att generella lyftverktyg varierar avsevärt gällande både externa kraftkällor och vilken princip som används för att gripa föremål som ska lyftas. Studien av företagets befintliga lyftverktyg visar att företaget applicerar en rad olika sätt att gripa både cylinderhuvuden och motorblock. För lyft av cylinderhuvuden används verktyg som använder friktion mellan lyftverktyg och ventilstyrningshålen och verktyg som använder mekanisk gripning som bygger på att cylinderhuvudets geometri utnyttjas.   Grundkoncept för hur cylinderhuvud och emballage kan lyftas tas fram genom att ett flertal konstruktions- och designmetoder används. Tre grundkoncept på lyftverktyg för lyft av cylinderhuvudet i kombination med två lösningar på hur emballaget kan lyftas presenteras för företaget. Ett av grundkoncepten anses vara den bästa lösningen på hur cylinderhuvudet ska lyftas utifrån resultatet av en viktad konceptvalsmatris. Den bästa lösning på hur lådan ska lyftas anses vara att denna inte lyfts alls, utan transporteras via ett rullbord. Företaget väljer dock att ett de andragrundkoncept av lyftverktyg ska vidareutvecklas. Även den andra lösningen på hur lådan ska lyftas anses av företaget vara en bättre lösning.   Till följd av cylinderhuvudenas variation i geometri konstrueras två olika lyftverktyg. Båda konstruktionerna bygger på att två ramkonstruktioner, uppbyggda av aluminiumprofiler och monterade till varandra med linjärstyrningar, sänks ner över cylinderhuvudet. Ramkonstruktionerna dras sedan ihop med en pneumatisk cylinder. Följden av detta blir att det ena lyftverktyget griper cylinderhuvudena genom kontakttryck överfört av puckar med polyuretanskivor fastvulkade i ena änden, mellan ram och cylinderhuvud. Det andra lyftverktyget griper cylinderhuvudet utifrån dess geometri. Båda lyftverktygen är utrustade med polyesterband med monterade lyftprofiler som passar emballagets fördefinierade lyftområden. Detta gör att lådan med det paketerade cylinderhuvudet inuti kan lyftas. Resultatet blir alltså två olika lyftverktyg, ett som lyfter med tryck och friktion och ett som lyfter genom mekanisk låsning utifrån cylinderhuvudets geometri.   På konstruktionen av lyftverktyget som lyfter cylinderhuvudet med friktion görs Finita Element-analyser för att utvärdera verkande moment, effektivspänningar och deformation vid belastning. Utifrån analyserna i kombination med noggrant avvägda antaganden dras slutsatsen att de ingående skruvförbanden, linjärstyrningar och aluminiumprofilerna håller en tvåfaldig säkerhet mot begynnande plasticering.   Utifrån det slutgiltiga resultatet ges förslag på framtida arbete i form av vidareutveckling av lyftverktyget till ÅF. / The packaging of cylinder heads as spare parts for car engines is today done by hand in a company in Skövde that manufactures car engines. All cylinder heads are lifted by hand and placed inside cardboard boxes. The cardboard boxes are then sent to the retailer of spare parts. In order to improve the work situation from an ergonomic point of view and to minimize the risk of injury on both the cylinder heads and the employees, the company has ordered a lifting tool from the technical consulting company ÅF. The goal with this master thesis is to develop one or several models of lifting tool/tools that can lift as many different cylinder head models as possible. The lifting tool/tools are also going to be able to lift the cardboard box with the cylinder head inside.   As starting point for the development of the lifting tool/tools, a literature study is made in the field of lifting tools. The literature study is divided into two parts; the first one includes general lifting tools on the market today. The second part analyses the different kind of lifting tools that the company already is using today. The literature study shows that there is a big variety in general lifting tools not only considering the external forces that is used to power the tools but also in which way the tools grips the objects. The study of the company’s existing lifting tools shows that it contains a big variety in different ways to grab both cylinder heads and engine blocks. To lift cylinder heads the company uses several kinds of principles, for example; lifting tools that grips with friction between lifting tool and the holes for the valve shafts. They also use lifting tools that grabs the cylinder heads by taking advantage of the cylinder head geometry.   Basic concepts on how the cylinder head and the cardboard box can be lifted are developed by using a number of different design methods. Three basic concepts of lifting tools for lifting the cylinder head combined with two basic concepts on how the cardboard box can be lifted is presented to the company. One of the three basic concepts on how to lift the cylinder head is considered the best, based on its score in a concept score table. The best solution for how the cardboard box is to be lifted is not to lift it at all. Instead should the cardboard box be pushed away on a ball transfer table. Still, the company chooses another one of the basic concept for further development. Also the second solution on how to lift the cardboard box is chosen by the company.   Due to that the cylinder heads geometries varies so much between the different models, two different lifting tools are developed. The construction of both of the tools is based on two aluminium frames, constructed by aluminium profiles. The two frames are joined together by linear motion bearings. The frames are lowered down over the cylinder head and then being pressed together by a pneumatic cylinder. This results in that the one of the two lifting tool is gripping the cylinder head with contact pressure and friction between the cylinder head and the aluminium cylinders on the lifting tool that have polyurethane vulcanised on its ends. The other lifting tool grips the cylinder head by using the cylinder heads geometry. The two lifting tools are both equipped with polyester bands with hooks mounted on its ends that fits in the premade handles on the cardboard box. This makes it possible to lift the cardboard box with a cylinder head inside of it. The result of this is two lifting tools, one that grips with pressure and friction and one that grips by mechanical locking based on the cylinder heads geometry.   For the lifting tool that grips the cylinder head with pressure and friction a series of analyses is made using the Finite Elements method. The purpose with these analyses is to evaluate torque, stress and displacement of the lifting tool. From the results of these analyses in combination with some carefully considered assumptions, conclusions of the strength of mechanics for the lifting tool are made. This shows that all the included parts of the lifting tool; such as screw joints, linear motion bearings and aluminium profiles, have a factor of safety higher then 2 against plastic deformation.   Based on obtained results from this thesis, advises on further development for the lifting tools are presented to ÅF.

In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made. Then a test rig was built with a robot arm and sensors, identical to the ones mounted on the real machine from DeLaval. The different parameters of the nonlinear model were then tuned and validated against data from the test rig to make sure that the model is correct. After that the nonlinear model was linearized for a closer analysis of the parameters that seemed to have an apparent effect on the system behaviour. The result of the analysis showed that the probable cause of instability is a decrease of the viscous friction, which gives worse damping characteristics. It was more suitable to base the controller parameters on the valve opening instead of the working point for the robot arm, since the gain in the valve increases with increasing valve opening. To avoid deterioration in phase margin because of the increased gain, the controller is adjusted so that the total gain is the same regardless of valve opening. The result is a system with larger bandwidth, less sensitive to changes in the viscous friction.

This Degree Project is a cooperativ work with the advertising agency PAX in Falun and the industrial companyRemote Control, who constructs and sells actuators for the global market.The assignment concerns bringing out a graphic profile, or with another expression a Design Management, forRemote Control AB graphic materials. Remote Control AB has a quality certification ISO 9000 and is workingwith, when this report was wrote, an environment certification ISO 14001.The Company has been paid attention to Internet and other media.The supervisors are familiar to that Design Management is a soon coming competition element, like quality andenvironment management.This Degree project contains research, analysis and the construction of graphic material. The research has beencommitted most of the time to trace the customer, the market and the competitor, because its the most importantphase. It’s also important looking at competitor’s way of working with marketing management, so you can separatethem from the own company.

<p>In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made. Then a test rig was built with a robot arm and sensors, identical to the ones mounted on the real machine from DeLaval. The different parameters of the nonlinear model were then tuned and validated against data from the test rig to make sure that the model is correct. After that the nonlinear model was linearized for a closer analysis of the parameters that seemed to have an apparent effect on the system behaviour. The result of the analysis showed that the probable cause of instability is a decrease of the viscous friction, which gives worse damping characteristics. It was more suitable to base the controller parameters on the valve opening instead of the working point for the robot arm, since the gain in the valve increases with increasing valve opening. To avoid deterioration in phase margin because of the increased gain, the controller is adjusted so that the total gain is the same regardless of valve opening. The result is a system with larger bandwidth, less sensitive to changes in the viscous friction.</p>

As farm tractors and field equipment become larger and heavier, there is a growing concern about soil compaction. Heavy equipment and tillage implements can cause damage to the soil structure. The soil structure is important, because it determines the ability of a soil to hold and conduct water, nutrients, and air. These properties are necessary for plant root activity. The basic connection between soil and machine are tyres. The choice of tyres in agriculture not only affects economy of soil operations and traffic, but it affects the soil structure too. The manufacturers of tyres and agricultural machines are developing new constructions, which has goal to decrease impact of heavy machinery on soil structure. Practical part of diploma thesis deals with the influence of load and inflation of tractor tyres on soil compaction. The results of experimental measurement confirmed negative influence of heavy tractor on soil structure.

The subject of this diploma thesis is to design a new construction of the machinery, which is used for manipulation with tire carts in rubber industry. The reason for the new design is to eliminate the main shortcomings of the existing provision. The aim of this project was to elaborate an overview of the current designs of the handling equipment in question and to subsequently construct a new suitable design solution. In addition, several conceptual calculations were needed to be used in the selection of the appropriate electric motor, transmission, pneumatic cylinders and wiring. The relevant parts were designed using structural FEM analyses. The several variants of the solutions were considered for a suitable construction design. Based on these FEM simulations, the relevant parts have been modified in terms of geometry so that the resulting manipulating machinery meets all the criteria, especially regarding safety.

The topic area of this bachelor’s thesis is mechatronics. The thesis explores how grip strength can be increased through the use of an exoskeleton. This was done by making an exoskeleton that was powered by pneumatics. This thesis features the design and construction process of making a pneumatic exoskeleton. This includes research, methods and results of the project. The requirements for the exoskeleton was to increase grip strength and make the device safe to use. Both of these requirements were achieved. After completing the project it was also apparent that geometry and the layout of exoskeletons are important as this directly impacts the transfer of forces. It was also found that having a weight distribution that takes advantage of stronger body parts is important to make the use of the exoskeleton comfortable. However this prototype was also limited in the range of motion and was somewhat unreliable. / Ämnesområdet för denna kandidatuppsats är mekatronik. Avhandlingen undersöker hur greppstyrkan kan ökas genom användning av ett exoskelett. Detta gjordes genom att tillverka ett exoskelett som drevs av pneumatik. Denna avhandling beskriver design- och konstruktionsprocessen för att tillverka ett pneumatiskt exoskelett. Detta inkluderar forskning, metoder och resultat av projektet. Kraven på exoskelettet var att öka grepp styrkanoch göra exoskelettet säker att använda. Båda dessa krav uppfylldes. Efter att ha avslutat projektet var det uppenbart att geometrin och utformningen av exoskelett är en viktig del eftersom detta direkt påverkar kraftöverföring. Man fann också att det är viktigt att ha en viktfördelning som drar fördel av starkare kroppsdelar för att göra användningen av exoskelettet bekväm. Men denna prototyp var också begränsad i rörelseomfånget och varopålitlig.

As new challenges presents themselves continuously in today’s society the need for autonomous driving solutions is ever growing and with it: the need for creative solutions. This thesis investigates the pneumatic solution to making a car jump. The analysis of theoretical and testing results have demonstrated a correlation between the weight of the car and height of the jump. With the selected configuration it has been proven unattainable to make the car jump. Further research should look into the optimization of the pneumatic system, specifically the mass flow rate throughout the whole system. / I dagens samhälle presenteras nya utmaningar dagligen och behovet av autonoma lösningar i fordon ökar ständigt. I takt med det ökar behovet av kreativa lösningar. Detta examensarbete undersöker pneumatiska lösningen bakom att få en bil att hoppa. Analysen av teoritiska och experimentiella resultat visar en korrelation mellan bilens vikt och den möjliga hopphöjden. Med den valda konfigurationen är det inte möjligt att utföra hoppet och åtgärder tas upp i disskusionen. Vidare forskning bör undersöka optimeringen av det pneumatiska systemet, specifikt på hur det maximala massflödet kan uppnås i systemet.

In this thesis, an effect of a tyre defect on the driving dynamics of a vehicle is dealt with. The first part of the thesis is mainly concerned with the vehicle dynamics, road resistance, adhesion, orientation characteristics of the tyres and slowing down. This chapter is followed by an overview of the manufacturing process and construction of modern passenger car tyres. The practical part is focused on driving tests that are used to demonstrate the influence of tyre defects on handling characteristics of the vehicle. The main focus of this thesis is on directional variation, braking distance, deceleration and lateral acceleration. The very end of the thesis concentrates on tyre defect in higher speeds and its after-effects as well as precautions for mitigation of these after-effects.

Denna rapport utgör dokumentationen av ett examensarbete utfört på Atlas Copco Secoroc i Fagersta under handledning av Maskinkonstruktions före detta universitetslektor Håkan Wettergren och Fluid &amp; Mekaniksystems professor Karl-Erik Rydberg och på Atlas Copco Secoroc konstruktör Risto Wisakanto, avdelningschef Thomas Greijer, båda avdelning DTH, samt Secorocs utvecklingschef Lars Holmgren.   Arbetet syftar till att utveckla en simuleringsmodell vilken ska användas vid utveckling av pneumatiska sänkborrmaskiner. Målsättningen var att göra en så bra modell som möjligt, en modell som skulle kunna användas vid utveckling av nya sänkborrmaskiner, och att stegvis förfina en i grunden enkel modell. Första modellen var dock lite för enkel och baserad på teori för slutna system så den gick inte bygga vidare på utan det var enklare att göra en helt ny modell baserad på teori för öppna system. Det var dock inte förgäves att bygga den första modellen utan de geometriska villkoren som använts i den enkla modellen kunde återanvändas i den mer avancerade som tack vare detta relativt snabbt kunde skapas.  Den mer avancerade modellen ger värden som stämmer mycket bra överens med mätresultat vid höga tryck, i detta fall 16 bar. Att modellen inte stämmer överens så bra vid låga tryck kan bero på flera saker, naturligtvis på att faktorer som försummats kanske har stor inverkan vid låga tryck eller att mätvärdena helt enkelt är fel. Maskinen går inte stabilt 6 respektive 10,5 bar utan gör det först vid 16 bar vilket gör att det är relevant att jämföra simulerade värden med mätvärden först vid 16 bar, en annan felkälla kan vara att givarna inte hänger med i det snabba förloppet samt att de inte är helt exakta (Greijer, 2002).     Kartläggning av en befintlig maskins geometrier, studier av termodynamiska lagar samt provborrningsresultat har legat till grund för modellen. / This report constitutes the documentation of a master thesis performed at Atlas Copco Secoroc in Fagersta under supervision by the division of Machine Design’s former lecturer (PhD) Håkan Wettergren and the division of Fluid &amp; Mechanical Engineering System’s professor (PhD) Karl-Erik Rydberg and at Atlas Copco Secoroc design engineer Risto Wisakanto, head of department Thomas Greijer, both department DTH, and Secorocs head of research and development Lars Holmgren. The purpose with this work is to develop a simulation model which will be used at development of pneumatic down-the-hole hammers.  Mapping of an existing machines geometry, studies of thermodynamic laws and test results is the basic sources used during development of this model.