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Theissen, N. A., Laspas, T. & Archenti, A. (2019). Closed-force-loop elastostatic calibration of serial articulated robots. Robotics and Computer-Integrated Manufacturing, 57, 86-91
Open this publication in new window or tab >>Closed-force-loop elastostatic calibration of serial articulated robots
2019 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 57, p. 86-91Article in journal (Refereed) Published
Abstract [en]

This paper presents a novel methodology to measure the compliance of articulated serial robots based on the Elastically Linked Systems concept. The idea behind the methodology is to measure serial articulated robots with customized external wrench vectors under a closed-force-loop. The methodology proposes to measure robots in use-case defined configurations to increase the effect of the identified model parameters on their later implementation. The measurement methodology utilizes the Loaded Double Ball Bar to customize wrench vectors and a laser tracker to measure the system response. In particular, the Loaded Double Ball Bar creates the closed-force-loop to create a flow of forces similar to the intended application of the robot. The methodology is applied to an industrial robot with six rotary joints using the LDBB and a laser tracker. Finally, the paper ends on a discussion about the implementation of the model parameters to improve the accuracy of robots as well as challenges to realize a more cost efficient elastostatic calibration.

Keywords
Industrial robot Compliance Closed-loop loaded testing
National Category
Mechanical Engineering
Research subject
Production Engineering
Identifiers
urn:nbn:se:kth:diva-239611 (URN)10.1016/j.rcim.2018.07.007 (DOI)2-s2.0-85056879522 (Scopus ID)
Note

QC 20181210

Available from: 2018-11-27 Created: 2018-11-27 Last updated: 2018-12-10Bibliographically approved
Wanner, B., Archenti, A. & Nicolescu, C. M. (2018). Hybrid machining: An industrial case-study comparing inconel718 reaming and drilling with abrasive waterjet technology. In: Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing: (pp. 109-114). Pleiades Publishing (9783319895628)
Open this publication in new window or tab >>Hybrid machining: An industrial case-study comparing inconel718 reaming and drilling with abrasive waterjet technology
2018 (English)In: Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing, Pleiades Publishing , 2018, no 9783319895628, p. 109-114Chapter in book (Refereed)
Abstract [en]

Abrasive waterjet technology is one of the fastest growing metal cutting technologies. When used in conjunction with conventional metal cutting methods, abrasive waterjet cutting can be both cost saving and environmentally favorable. This paper shows that when processing hard to cut alloys, abrasive waterjet will be an excellent hybrid alternative. Reaming and drilling have traditionally been used to produce turbine blisks. Reaming is a highly expensive method since it uses very large amounts of cutting tools. Especially when cutting hard materials such as Nickel alloys, tools have to be replaced after only a few minutes of usage. By applying abrasive waterjet cutting to part of the process, the cost for tooling can be almost entirely eliminated. It will also increase the return profit for revert material and greatly reduce environmental emissions. This is because reaming and drilling produce chips while large amounts of cutting fluids are being used. Abrasive waterjet cutting will produce one large metal chunk per cut and uses no cutting fluids. This paper presents a method to combine abrasive waterjet cutting with reaming and drilling.

Place, publisher, year, edition, pages
Pleiades Publishing, 2018
Keywords
Abrasive waterjet, Hybrid processing, Machining vibrations, Reaming, Sustainability
National Category
Manufacturing, Surface and Joining Technology
Identifiers
urn:nbn:se:kth:diva-238381 (URN)10.1007/978-3-319-89563-5_8 (DOI)2-s2.0-85046822939 (Scopus ID)978-3-319-89562-8 (ISBN)
Note

QC 20181108

Available from: 2018-11-08 Created: 2018-11-08 Last updated: 2018-11-08Bibliographically approved
Rastegari, A. & Archenti, A. (2018). Online vibration condition monitoring of gas circulation fans in hardening process. International Journal of COMADEM, 21(1), 25-29
Open this publication in new window or tab >>Online vibration condition monitoring of gas circulation fans in hardening process
2018 (English)In: International Journal of COMADEM, ISSN 1363-7681, Vol. 21, no 1, p. 25-29Article in journal (Refereed) Published
Abstract [en]

Vibration analysis and the Shock Pulse Method (SPM) are two of the most popular condition monitoring techniques used in Condition-Based Maintenance (CBM) policy, especially for rotating equipment. To illustrate the extent to which advanced CBM techniques (in this case, vibration analysis and SPM) are applicable and cost effective in a manufacturing company, a pilot project was followed in real time. The pilot project was performed at a large manufacturing site in Sweden. The purpose of the project was to implement online condition monitoring of five critical gas circulation fans in the hardening process of the manufacturing company. This paper presents some of the main findings of the online condition monitoring of the fans for a period of three years. Consequently, based on the empirical data, the company was able to gain great profit due to preventing production losses by preventing breakdowns of the fans.

Place, publisher, year, edition, pages
COMADEM International, 2018
Keywords
Condition-based maintenance, Fan, Online condition monitoring, Vibration analysis
National Category
Reliability and Maintenance
Identifiers
urn:nbn:se:kth:diva-238424 (URN)2-s2.0-85048707338 (Scopus ID)
Note

QC 20181031

Available from: 2018-10-31 Created: 2018-10-31 Last updated: 2018-10-31Bibliographically approved
Wanner, B., Archenti, A. & Nicolescu, M. (2017). HYBRID MACHINING: ABRASIVE WATERJET TECHNOLOGIES USED IN COMBINATION WITH CONVENTIONAL METAL CUTTING. Journal of Machine Engineering, 17(3), 85-96
Open this publication in new window or tab >>HYBRID MACHINING: ABRASIVE WATERJET TECHNOLOGIES USED IN COMBINATION WITH CONVENTIONAL METAL CUTTING
2017 (English)In: Journal of Machine Engineering, ISSN 1895-7595, Vol. 17, no 3, p. 85-96Article in journal (Refereed) Published
Abstract [en]

Abrasive Waterjet technology is one of the fastest growing metal cutting technologies. Even so, very little published material is available on hybrid processing where abrasive waterjet cutting is one of two or more metal cutting methods. There is also limited published material on thin-walled components cut with abrasive waterjet technology. This paper makes a comparison of conventional metal cutting methods to the more unconventional abrasive waterjet technique. It will serve as a stepping stone in building knowledge aiding in hybrid machining development. It will show the possibilities and limitations during milling of thin-walled Aluminum components and then compare this to the capabilities of abrasive waterjet cutting the same components. Differences in material removal and revert control as well as in vibrations and force requirements will be reviewed. In addition, the environmental issues will be discussed and it will be determined which of the methods is more sustainable. The paper also includes a large section on process methodology.

Keywords
hybrid processing, abrasive waterjet, thin-wall milling, sustainability
National Category
Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-216942 (URN)2-s2.0-85030534109 (Scopus ID)
Note

QC 20171101

Available from: 2017-10-24 Created: 2017-10-24 Last updated: 2017-11-01Bibliographically approved
Vogl, G. W., Archenti, A. & Donmez, M. A. (2017). Identification of machine tools linear axes performance using on-machine embedded inertia measurement units. In: Laser Metrology and Machine Performance XII - 12th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2017: . Paper presented at 12th International Conference and Exhibition on Laser Metrology, Coordinate Measuring Machine and Machine Tool Performance, LAMDAMAP 2017, 15 March 2017 through 16 March 2017 (pp. 65-74). euspen
Open this publication in new window or tab >>Identification of machine tools linear axes performance using on-machine embedded inertia measurement units
2017 (English)In: Laser Metrology and Machine Performance XII - 12th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2017, euspen , 2017, p. 65-74Conference paper, Published paper (Refereed)
Abstract [en]

The current trend in manufacturing industry is from mass production towards flexible and adaptive manufacturing systems and cloud manufacturing. Self-learning machines and robot systems can play an essential role in the development of intelligent manufacturing systems and can be deployed to deal with a variety of tasks that can require flexibility and accuracy. However, in order for the machine tool (physical and control system) to deal with the desired task in a cognitive and efficient manner, the system must be "aware" of its capability and,most importantly,its limitations in order to avoid them and adjust itself to the desired task. Thus, characterization of machine tool accuracy and capability is necessary to realize that. In this study,data from a machine-embedded inertial measurement unit (IMU), consisting of accelerometers and rate gyroscopes,was used for identification of changes in linearand angular errormotions due to changes in operational conditionsor component degradation.The IMU-based results were validated against laser-based measurement results,demonstratingthat the IMU-based method is capable of detecting micrometer-level and microradian-level degradation of machine tool linearaxes.Thus, manufacturers could use themethod to efficientlyand robustly diagnose the condition of their machine tool linear axeswith minimal disruptions to production.

Place, publisher, year, edition, pages
euspen, 2017
Keywords
Coordinate measuring machines, Engineering education, Gyroscopes, Intelligent robots, Learning systems, Manufacture, Units of measurement, Adaptive manufacturing, Cloud Manufacturing, Inertia measurement units, Inertial Measurement Unit (IMU), Intelligent manufacturing system, Laser-based measurement, Machine tool accuracies, Manufacturing industries, Machine tools
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:kth:diva-227833 (URN)2-s2.0-85043392318 (Scopus ID)9780956679093 (ISBN)
Conference
12th International Conference and Exhibition on Laser Metrology, Coordinate Measuring Machine and Machine Tool Performance, LAMDAMAP 2017, 15 March 2017 through 16 March 2017
Note

QC 20180517

Available from: 2018-05-17 Created: 2018-05-17 Last updated: 2018-05-17Bibliographically approved
Maffei, A., Daghini, L., Archenti, A. & Lohse, N. (2016). CONALI Ontology. A Framework for Design and Evaluation of Constructively Aligned Courses in Higher Education: Putting in Focus the Educational Goal Verbs. In: Procedia CIRP: . Paper presented at 26th CIRP Design Conference, 2016, 15 June 2016 through 17 June 2016 (pp. 765-772). Elsevier
Open this publication in new window or tab >>CONALI Ontology. A Framework for Design and Evaluation of Constructively Aligned Courses in Higher Education: Putting in Focus the Educational Goal Verbs
2016 (English)In: Procedia CIRP, Elsevier, 2016, p. 765-772Conference paper, Published paper (Refereed)
Abstract [en]

An increasing number of Higher Education professionals have embraced the Constructivism theory in contrast with the traditional transmissive pedagogy approach where the focal figure is the teacher. Constructivists emphasizes that the learners acquire, or construct, knowledge through their own activities and previous knowledge. Teacher role is to set up an environment that can provide a good learning experience for the students. In view of this the alignment of the intended learning outcome (ILO) with the teaching and learning activity (TLA) and the assessment task (AT) of the course becomes an important requirement for good learning. The driver of the alignment is the educational goal verb (EGV) that represents the educational goal underling a specific intended learning outcome (ILO). This verb should be elicited by the course's TLA and be the base for the consequent AT. The convergence of constructivism with this concept generates the constructive alignment pedagogical paradigm. The CONALI ontology answers the requirement for a structured framework to describe the vast body of knowledge developed in such a field. The salient aspects of constructive alignment have been extracted and classified in a comprehensive taxonomy. The following description of the semantic relationships among the different classes resulted in the CONALI ontology. The chosen modelling language is OWL: this provides the possibility to describe in a computer understandable way a higher education courses to an unprecedented level of detail. OWL enables also the creation of a specific knowledge base by populating the model. The knowledge base can then be analysed and interrogated on many important issues concerning the alignment of the instantiated course. The CONALI ontology becomes an important tool to design and synthesize the related domain knowledge. This paper proves the usability of CONALI ontology as tool to represent the courses in an engineering program and evaluate the alignment of their activities. The specific instantiation is based on the Industrial Engineering program at KTH Royal Institute of Technology in Stockholm, Sweden.

Place, publisher, year, edition, pages
Elsevier, 2016
Keywords
Constructive Alignment, Knowledge Base, Ontology, Birds, Computer simulation languages, Design, Education, Education computing, Knowledge based systems, Modeling languages, Semantics, Constructive alignments, Constructivism theories, Design and evaluations, Intended learning outcomes, Royal Institute of Technology, Semantic relationships, Teaching and learning, Teaching
National Category
Learning
Identifiers
urn:nbn:se:kth:diva-195460 (URN)10.1016/j.procir.2016.06.004 (DOI)000387666600128 ()2-s2.0-84986598327 (Scopus ID)
Conference
26th CIRP Design Conference, 2016, 15 June 2016 through 17 June 2016
Note

QC 20161128

Available from: 2016-11-28 Created: 2016-11-03 Last updated: 2018-12-07Bibliographically approved
Cedergren, S., Frangoudis, C., Archenti, A., Pederson, R. & Sjöberg, G. (2015). Influence of work material microstructure on vibrations when machining cast Ti-6Al-4V. The International Journal of Advanced Manufacturing Technology, 1-15
Open this publication in new window or tab >>Influence of work material microstructure on vibrations when machining cast Ti-6Al-4V
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2015 (English)In: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015, p. 1-15Article in journal (Refereed) Epub ahead of print
Abstract [en]

Titanium alloys are known to produce shear-localized chips during machining, resulting in cyclic variations in cutting forces which in turn could cause severe problems with vibrations. However, at low cutting speeds and feed rates, continuous chips are formed, with an increase in both parameters favoring the transition to shear-localized chips. This transition is affected by work material microstructure, where a coarse microstructure gives anisotropic effects, e.g., when the size of alpha colonies is on the same order of magnitude as the primary cutting zone. The change in chip morphology with an increase in cutting parameters will then be dependent on the orientation of alpha colonies within the cutting zone. The microstructure of work material can show large variations depending on product form, e.g., cast, wrought, or sheet material, thus affecting whether the chip formation is isotropic or anisotropic. Other sources of variations also exist that can be found within the same component, such as segregation of alloying elements and differences in thermo-mechanical history during processing due to geometry. In this study, the interaction between work material microstructure, process parameters, and the machining system’s structural characteristics is studied. The aim is to further increase the knowledge about vibrations during machining of titanium and the role of microstructure and machining system properties. Different microstructures were produced by adding boron to cast Ti-6Al-4V material, where the resulting colony sizes gave both isotropic and anisotropic chip formation within the chosen cutting data range. The machining systems dynamic properties were varied by using different tool overhangs, thereby simulating different configurations of natural frequencies and stiffness. The results show the influence of both microstructure and machining system’s structural characteristics on the dynamic response of the system for different process parameters. This information can be used to increase robustness of machining operations taking into consideration this three-way relationship.

Place, publisher, year, edition, pages
London: Springer, 2015
Keywords
Titanium Machining, Vibrations, Process-machine interaction
National Category
Engineering and Technology
Research subject
SRA - Production
Identifiers
urn:nbn:se:kth:diva-174199 (URN)10.1007/s00170-015-7827-2 (DOI)2-s2.0-84944608518 (Scopus ID)
Funder
XPRES - Initiative for excellence in production research
Note

QP 201510

Available from: 2015-10-02 Created: 2015-10-02 Last updated: 2017-12-01Bibliographically approved
Nicolescu, M., Frangoudis, C., Semere Tesfamariam, D., Archenti, A. & Rashid, A. (2015). New Paradigm in Control of Machining System’s Dynamics. Journal of Machine Engineering, 15(3)
Open this publication in new window or tab >>New Paradigm in Control of Machining System’s Dynamics
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2015 (English)In: Journal of Machine Engineering, Vol. 15, no 3Article in journal (Refereed) Published
Abstract [en]

The increasing demands for precision and efficiency in machining call for effective control strategies based on the identification of static and dynamic characteristics under operational conditions. The capability of a machining system is significantly determined by its static and dynamic stiffness. The aim of this paper is to introduce novel concepts and methods regarding identification and control of a machining system’s dynamics. After discussing the limitations in current methods and technologies of machining systems’ identification and control, the paper introduces a new paradigm for controlling the machining system dynamics based on design of controllable structural Joint Interface Modules, JIMs, whose interface characteristics can be tuned using embedded actuators. Results from the laboratory and industrial implementation demonstrate the effectiveness of the control strategy with a high degree of repeatability.

Keywords
machining system, parametric identification, operational dynamic parameters, joint interface module
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:kth:diva-208201 (URN)
Note

QC 20170612

Available from: 2017-06-02 Created: 2017-06-02 Last updated: 2017-06-12Bibliographically approved
Leonesio, M., Archenti, A. & Parenti, P. (2015). Parametric and non-parametric identification of micromilling dynamics. In: Massimiliano Annoni et al (Ed.), Proceedings of the 4M/ICOMM2015 Conference: . Paper presented at 4M/ICOMM2015 (pp. 121-125).
Open this publication in new window or tab >>Parametric and non-parametric identification of micromilling dynamics
2015 (English)In: Proceedings of the 4M/ICOMM2015 Conference / [ed] Massimiliano Annoni et al, 2015, p. 121-125Conference paper, Published paper (Refereed)
Abstract [en]

Monitoring and control of micromilling process represents a challenging task in metal cutting. The lack of static and dynamic stiffness due to the small tool size represents one of the most important issues that has to be tackled in order to provide satisfactory control of the process. In this paper different methods for identifying micro-end milling dynamics for process monitoring are proposed. On one side a parametric approach based on the identification of machining system ODPs (Operation Dynamic Parameters) has been designed. On the other hand a non-parametric approach, based on the calculation of system Lyapunov exponents has been also tested to verify whether generalized methods for assessing system dynamics are also applicable in micromachining where the process non-linearity’s can become relevant, thus limiting the effectiveness of other monitoring methods.

Keywords
Micromilling, Identification, Process stability, Chatter
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
SRA - Production
Identifiers
urn:nbn:se:kth:diva-166761 (URN)10.3850/978-981-09-4609-8_030 (DOI)978-981-09-4609-8 (ISBN)
Conference
4M/ICOMM2015
Note

QC 20150615

Available from: 2015-05-15 Created: 2015-05-15 Last updated: 2015-06-15Bibliographically approved
Adane, T. F., Bianchi, M. F., Archenti, A. & Nicolescu, M. (2015). Performance evaluation of machining strategy for engine-block manufacturing. Performance evaluation of machining strategy for engine-block manufacturing, 15(4), 81-102
Open this publication in new window or tab >>Performance evaluation of machining strategy for engine-block manufacturing
2015 (English)In: Performance evaluation of machining strategy for engine-block manufacturing, ISSN 1895-7595, Vol. 15, no 4, p. 81-102Article in journal (Refereed) Accepted
Abstract [en]

This paper will introduce a novel methodology for the performance evaluation of machining strategies of engine block manufacturing. The manufacturing of engine components is vital to the automotive and vehicle manufacturing industries. Machining is critical processes in the production of these parts. To survive and excel in the competitive manufacturing environment, companies need to improve as well as update their machining processes and evaluate the performance of their machining lines. Moreover, the lines and processes have to be robust in handling different sources of variation over time that include such examples as demand fluctuations, work-piece materials or even any changes in design specifications. A system dynamics modelling and simulation approach has been deployed to develop a methodology that captures how machining system parameters from the machining process are interacted with each other, how these connections drive performance and how new targets affect process and machine tool parameters through time. The developed model could provide an insight of how to select the crucial machining system parameters and to identify the effect of those parameters on the output of the system. In response to such an analysis, this paper provides (offers) a framework to examine machining strategies and has presented model that is useful as a decision support system for the evaluation and selection of machining strategies. Here a system dynamics methodology for modelling is applied to the milling operation and the model is based on an actual case study from the engine-block manufacturing industry.

National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:kth:diva-229289 (URN)
Note

QC 20180604

Available from: 2018-06-01 Created: 2018-06-01 Last updated: 2018-06-04Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-9185-4607

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