scholarly journals Design and Implementation of Plastic Deformation Behavior by Cartesian Impedance Control Based on Maxwell Model

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Le Fu ◽  
Jie Zhao
Keyword(s):  
Plastic Deformation ◽  
Deformation Behavior ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Maxwell Model ◽  
Physical Contact ◽  
Elastic Behavior ◽  
Plastic Deformation Behavior ◽  
In Series ◽  
Control Methodology

Compliance has become one prerequisite of robots designed to work in complex operation environment where dynamic and uncertain physical contact or impact takes place frequently and even intentionally. Impedance control is a typical complaint control methodology. Standard impedance control is based on dynamics described by a spring and damper model connected in parallel way, which endues the robot an elastic behavior. In contrast, plastic deformation can be realized by Maxwell model in which spring and damper connect in series. In this study, a novel Cartesian impedance controller is constructed based on the Maxwell model. Implementation in a robot manipulator is executed to validate and analyze the proposed control law. A plastic deformation behavior of the robot manipulator is produced and certain extent compliance is achieved under the unpredictable impact or contact force exerted by human or other environment objects.

Effect of Grain Size on Deformation Twinning Behavior of Ti6Al4V Alloy

2015 ◽  
Vol 830-831 ◽  
pp. 337-340
Author(s):  
Ashish Kumar Saxena ◽  
Manikanta Anupoju ◽  
Asim Tewari ◽  
Prita Pant
Keyword(s):  
Plastic Deformation ◽  
Grain Size ◽  
Strain Rate ◽  
Deformation Behavior ◽  
Deformation Behaviour ◽  
Air Cooling ◽  
Specific Strength ◽  
Aerospace Applications ◽  
Β Phase ◽  
Plastic Deformation Behavior

An understanding of the plastic deformation behavior of Ti6Al4V (Ti64) is of great interest because it is used in aerospace applications due to its high specific strength. In addition, Ti alloys have limited slip systems due to hexagonal crystal structure; hence twinning plays an important role in plastic deformation. The present work focuses upon the grain size effect on plastic deformation behaviour of Ti64. Various microstructures with different grain size were developed via annealing of Ti64 alloy in α-β phase regime (825°C and 850°C) for 4 hours followed by air cooling. The deformation behavior of these samples was investigated at various deformation temperature and strain rate conditions. Detailed microstructure studies showed that (i) smaller grains undergoes twinning only at low temperature and high strain rate, (ii) large grain samples undergo twinning at all temperatures & strain rates, though the extent of twinning varied.

scholarly journals Plastic Deformation Behavior of Metal for Complex Loading Paths

1975 ◽  
Vol 18 (125) ◽  
pp. 1209-1217 ◽  
Author(s):  
Kenji KANEKO ◽  
Kozo IKEGAMI ◽  
Eiryo SHIRATORI
Keyword(s):  
Plastic Deformation ◽  
Deformation Behavior ◽  
Complex Loading ◽  
Loading Paths ◽  
Plastic Deformation Behavior

Prediction of 3D Microstructure and Plastic Deformation Behavior in Dual-Phase Steel Using Multi-Phase Field and Crystal Plasticity FFT Methods

2015 ◽  
Vol 651-653 ◽  
pp. 570-574 ◽  
Author(s):  
Akinori Yamanaka
Keyword(s):  
Plastic Deformation ◽  
Crystal Plasticity ◽  
Phase Field ◽  
Deformation Behavior ◽  
Fast Fourier Transformation ◽  
Dual Phase ◽  
Dp Steel ◽  
3D Microstructure ◽  
Plastic Deformation Behavior ◽  
Multi Phase

The plastic deformation behavior of dual-phase (DP) steel is strongly affected by its underlying three-dimensional (3D) microstructural factors such as spatial distribution and morphology of ferrite and martensite phases. In this paper, we present a coupled simulation method by the multi-phase-field (MPF) model and the crystal plasticity fast Fourier transformation (CPFFT) model to investigate the 3D microstructure-dependent plastic deformation behavior of DP steel. The MPF model is employed to generate a 3D digital image of DP microstructure, which is utilized to create a 3D representative volume element (RVE). Furthermore, the CPFFT simulation of tensile deformation of DP steel is performed using the 3D RVE. Through the simulations, we demonstrate the stress and strain partitioning behaviors in DP steel depending on the 3D morphology of DP microstructure can be investigated consistently.

Study of the Titanium Alloy Deformation Behavior in Equal Channel Angular Extrusion

2007 ◽  
Vol 345-346 ◽  
pp. 177-180 ◽  
Author(s):  
Dyi Cheng Chen ◽  
Yi Ju Li ◽  
Gow Yi Tzou
Keyword(s):  
Plastic Deformation ◽  
Titanium Alloy ◽  
Deformation Behavior ◽  
Equal Channel Angular Extrusion ◽  
Effective Strain ◽  
Processing Conditions ◽  
Rigid Plastic ◽  
Die Geometry ◽  
Extrusion Processing ◽  
Plastic Deformation Behavior

The shear plastic deformation behavior of a material during equal channel angular (ECA) extrusion is governed primarily by the die geometry, the material properties, and the processing conditions. Using commercial DEFORMTM 2D rigid-plastic finite element code, this study investigates the plastic deformation behavior of Ti-6Al-4V titanium alloy during 1- and 2-turn ECA extrusion processing in dies containing right-angle turns. The simulations investigate the distributions of the billet mesh, effective stress and effective strain under various processing conditions. The respective influences of the channel curvatures in the inner and outer regions of the channel corner are systematically examined. The numerical results provide valuable insights into the shear plastic deformation behavior of Ti-6Al-4V titanium alloy during ECA extrusion.

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