Hybrid Manufacturing of Stiffening Grooves in Additive Deposited Thin Parts

This paper is focused on the hybridization of additive manufacturing with single-point incremental forming to produce stiffening grooves in thin metal parts. An analytical model built upon in-plane stretching of a membrane is provided to determine the tool force as a function of the required groove depth and to estimate the maximum allowable groove depth that can be formed without tearing. The results for additively deposited stainless-steel sheets show that the proposed analytical model can replicate incremental plastic deformation of the stiffening grooves in good agreement with experimental observations and measurements. Anisotropy and lower formability caused by the dendritic-based microstructure of the additively deposited stainless-steel sheets justifies the reason why the maximum allowable depth of the stiffening grooves is approximately 27% smaller than that obtained for the wrought commercial sheets of the same material that are used for comparison purposes.

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It’s the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.

Effect of hardening law and process parameters on finite element simulation of single point incremental forming (SPIF) of 7075 aluminum alloy sheet

In the last two decades, the advances of using computers in sheet metal forming processes have introduced a novel adjustable process known as incremental sheet forming (ISF) as an optimal method for fast prototyping and low numbers of production. Formability and deformation behavior of ISF process are highly affected by the selected process parameters, such as the toolpath, step size, tool diameter, feed rate, and lubrication. The purpose of this work was to study the effect of these process parameters as well as hardening law on single point incremental forming (SPIF) process. For this work, a truncated-cone geometry was considered as a target shape with 7075-O aluminum alloy sheets. The simulations were conducted with different process parameters, i.e., toolpath type, step size, tool size, feed rate, friction coefficient, and wall angle with respect to the tool force and moment, effective plastic strain distribution and thickness of the part. In addition, three types of hardening laws i.e., isotropic extended Voce type hardening law, combined isotropic-kinematic Chaboche type hardening laws with single and double back-stress terms were applied in the finite element simulation of SPIF process. A detailed comparison of these hardening laws' predictions was made with respect to the tool force and moment, effective plastic strain distribution and thickness of the part.

Determination of surgical robot tool force requirements through tissue manipulation and suture force measurement

Through the use of a cadaveric porcine model, forces necessary for manipulation of the abdominal organs were evaluated using an instrumented probe. Additionally, forces for tissue puncture, knot tightening, and suture breakage have been measured in order to determine the requirements placed upon the design of novel robotic surgical tools. The break forces for a variety of suture sizes and types were evaluated including sizes 3-0 through 7-0 polypropylene, size 1 polybutestor, size 4-0 chromic gut, and size 6-0 braided polyester. Tests of the tissue puncture force and knot tightening forces were carried out using the same instrumented probe, while the suture break forces were measured using a tension testing machine. The measured forces were found to compare well against the literature and provide a good basis from which to design robotic surgical tools with the appropriate capabilities.