Coupled Eulerian-Lagrangian Simulation of Indexable Drilling

This paper presents finite element simulations of indexable drilling of AISI4140 workpieces. The Coupled-Eulerian-Lagrangian framework is employed and the focus is to predict the drilling torque around the hole axis, thrust force, temperature distributions and chip geometries. The cutting process is modelled separately for peripheral and central insert. Then, the total thrust force and torque are predicted by superposing the predicted result for each insert. Experiments and simulations are conducted at a constant rotational velocity of 2400 rpm and feed rates of 0.13, 0.16 and 0.18 mm/rev. While the predicted torques are in excellent agreement, the thrust forces showed discrepancies of 12 - 20% to the experimental measured data. Effects of the friction modelling on the predicted torque and thrust force are outlined and possible reasons for the thrust force discrepancies are discussed in the paper. Additionally, the simulations indicate that the tool and workpiece temperature distributions are virtually unaffected by the feed rate.

Dynamic parameter identification method for robotic arms with static friction modelling

This paper presents an identification method for robotic manipulators. It demonstrates how a dynamic model can be constructed with the help of the modified Newton–Euler formula. To model the friction of the joints, static friction modelling is used, in which the friction behaviour depends only on the actual velocity of the given joint. With these techniques, the model can be converted into a linear-in-parameters form, which can make the identification process easier. Two estimators are introduced to solve the identification problem, the least-squares and the weighted least-squares estimators, and the determination of the independently identifiable parameter vector to make the regression matrix maximal column rank is presented. The Frobenius norm is used as the condition of the regression matrix to optimise the excitation trajectories, and the form of the trajectories has been selected from the finite Fourier series. The method is tested in a simulated environment to achieve a three-degrees-of-freedom manipulator.

State of the art of friction modelling at interfaces subjected to elastohydrodynamic lubrication (EHL)

Elastohydrodynamic lubrication (EHL) is a type of fluid-film lubrication where hydrodynamic behaviors at contact surfaces are affected by both elastic deformation of surfaces and lubricant viscosity. Modelling of contact interfaces under EHL is challenging due to high nonlinearity, complexity, and the multi-disciplinary nature. This paper aims to understand the state of the art of computational modelling of EHL by (1) examining the literature on modeling of contact surfaces under boundary and mixed lubricated conditions, (2) emphasizing the methods on the friction prediction occurring to contact surfaces, and (3) exploring the feasibility of using commercially available software tools (especially, Simulia/Abaqus) to predict the friction and wear at contact surfaces of objects with relative reciprocating motions.

Friction Compensation in the Inverted Pendulum Controller by Means of a Neural Network

This paper presents an experimental confirmation of the novel method of friction modelling and compensation. The method has been applied to an inverted pendulum control system. The practical procedure of data acquisition and processing has been described. Training of the neural network friction model has been covered. Application of the obtained model has been presented. The main asset of the presented model is its correctness in a wide range of relative velocities. Moreover, the model is relatively easy to build.