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Full-Text Articles in Mechanical Engineering
Modeling Of 3d Swept Volumes Using Sde/Sede Methods And Its Application To Five-Axis Nc Machining, Liping Wang
Modeling Of 3d Swept Volumes Using Sde/Sede Methods And Its Application To Five-Axis Nc Machining, Liping Wang
Dissertations
This research falls in two important areas in solid modeling and manufacturing automation: (1) swept-volume modeling; (2) computer-based NC (Numerically controled) machining simulation and verification. The swept volume is defined as the volume swept by an object undergoing an arbitrary motion. Modeling of 3D swept volumes includes the boundary computation and representation of a swept volume generated by a general object undergoing general motion in three dimensional space. The Sweep Differential Equation (SDE) and Sweep Envelope Differential Equation (SEDE) methods are two of the important swept volume modeling methods employed in this dissertation. They exploit differential equations to obtain the …
Vibration As An Aid In Robotic Peg-In-Hole Assembly, Hsin-Te Liao
Vibration As An Aid In Robotic Peg-In-Hole Assembly, Hsin-Te Liao
Dissertations
This dissertation presents an analytical and experimental investigation of vibration assisted engagement for parts mating. A dynamic model of assembly is established by using Lagrange's equation for impact to derive impact equations for a robotic manipulator in peg-in-hole assembly. The model can be used to analyze part motion and contact force in the mating of parts by robots. The impact equations of a SCARA robot are derived using this model and utilized to investigate how robot configuration, insertion speed, chamfer angle, coefficient of restitution and other system parameters affect impulsive force and departure angle in the assembly of a peg …