A 3-axis precision positioning device using PZT actuators with low interference motions

For expected applications of fast tool servo (FTS) and vibration machining, a 3-axis positioning device with low interference motions is proposed in this paper. The positioning device was composed of a XY stage and a Z-axis stage, which were actuated by piezoelectric (PZT) actuators combined with specially-designed symmetric flexure hinges. Through fundamental experiments, when the applied voltage was 50 V, the displacements along the X-, Y-, and Z-axes were measured as 6.35 μm, 6.61 μm, and 10.12 μm, respectively, with the corresponding small percentages of interference displacement of 3.80%, 4.02%, and 3.30%. In addition, the resonant frequencies were obtained as 1.06 kHz, 0.65 kHz, and 0.54 kHz. To examine control performances, a real-time control system considering hysteresis effect of PZT actuators was implemented by the field-programmable gate array (FPGA) modules to conduct tracing controls for sinusoidal waveform, 3D Lissajous motion, and 3D spiral motion. The tracing errors along 3-axis actuations were under 30 nm. The performances of a 3-axis positioning device were well demonstrated. Future work is to perform machining examinations on a machine tool.     

Leap motion controller three dimensional verification and polynomial correction

We propose a leap motion controller (LMC) dimensional verification based on ISO 10360-2:2009 with a coordinated measuring machine (CMM) as the reference framework. A pointer device comprising a thin aluminum cylinder was used to simulate a human finger. This was mounted on the spindle of the CMM to mark known positions over the LMC workspace. Polynomial tendency line corrections were applied to reduce the error in the LMC and CMM framework alignment. One dimension verification results were less than 0.1 mm in the X and Z axes, whereas the Y axis produced unsuitable results. The mean error was 9.6 mm in three-dimensional (3D) verification. Our findings demonstrate the difference between manufacturer quoted accuracy (0.01 mm) to that practically obtainable when the pointer was placed in a known position. LMC needs to add tracking models and position error compensation in applications requiring high accuracy, such as industrial processes or surgical procedure simulations.     

Calibration of laser beam direction for optical coordinate measuring system

For the purpose of measuring free form surfaces of some key parts in the aviation field accurately and effectively, such as blades, a non-contact optical coordinate measuring system is set up in the paper. A laser displacement sensor is mounted on the Z axis of a CMM via a turntable and adjusted to the suitable orientation according to the shape of the target surface. The combination of optical sensor and CMM can reach the full potential of them both. To enable the laser sensor to perform measurement in every direction, a calibration method used to determine the laser beam direction based on a standard sphere is proposed, the principle of which is analyzed in detail in the paper. In the calibration procedure, the sensor moves at an equal step along X, Y and Z axes respectively and then equation sets are established to calculate the unit direction vector of the line which the laser beam is on. In the process of solving the unknown quantities, a new parameter substitution method is applied. Finally, a gauging block and a sphere with known size are used to verify the method. As the experimental results show, the measuring errors in several directions are all smaller than 0.05 mm, which manifests that the calibration method proposed can meet the requirements of reverse engineering.     

Structural optimization for flexure-based parallel mechanisms – Towards achieving optimal dynamic and stiffness properties

Flexure-based parallel mechanisms (FPMs) are a type of compliant mechanisms that consist of a rigid end-effector that is articulated by several parallel, flexible limbs (a.k.a. sub-chains). Existing design methods can enhance the FPMs’ dynamic and stiffness properties by conducting a size optimization on their sub-chains. A similar optimization process, however, was not performed for their sub-chains’ topology, and this may severely limit the benefits of a size optimization. Thus, this paper proposes to use a structural optimization approach to synthesize and optimize the topology, shape and size of the FPMs’ sub-chains. The benefits of this approach are demonstrated via the design and development of a planar X − Y − θ_z FPM. A prototype of this FPM was evaluated experimentally to have a large workspace of 1.2 mm × 1.2 mm × 6°, a fundamental natural frequency of 102 Hz, and stiffness ratios that are greater than 120. The achieved properties show significant improvement over existing 3-degrees-of-freedom compliant mechanisms that can deflect more than 0.5 mm and 0.5°. These compliant mechanisms typically have stiffness ratios that are less than 60 and a fundamental natural frequency that is less than 45 Hz.     

Videogrammetric technique for three-dimensional structural progressive collapse measurement

In order to solve the shortcomings of the traditional transducers for monitoring the structural progressive collapse, this paper proposes to adopt the high-speed videogrammetric measurement technique to monitor the structural progressive collapse. First, the videogrammetric hardware components are presented. Second, three key issues about the stereo videogrammetric technique are studied in the paper, including camera calibration and placement, movable network control and tracking targets layout and image sequences processing. At last, three different kinds structural progressive collapse of five-story reinforced concrete frame-wall are performed, and the absolute accuracy of 0.43 mm, 0.87 mm and 0.65 mm and the relative accuracy of 0.61 mm, 0.29 mm and 0.62 mm are achieved in the X, Y and Z direction. The results show that the non-contacted videogrammetry is an alternative technique to monitor the structural progressive collapse.     

A long-stroke 3D contact scanning probe for micro/nano coordinate measuring machine

This paper presents a long-stroke contact scanning probe with high precision and low stiffness for micro/nano coordinate measuring machines (micro/nano CMMs). The displacements of the probe tip in 3D are detected by two plane mirrors supported by an elastic mechanism, which is comprised of a tungsten stylus, a floating plate and two orthogonal Z-shaped leaf springs fixed to the outer case. A Michelson interferometer is used to detect the vertical displacement of the mirror mounted on the center of the floating plate. An autocollimator based two dimensional angle sensor is used to detect the tilt of the other plane mirror located at the end of the arm of the floating plate. The stiffness and the dynamic properties are investigated by simulation. The optimal structural parameters of the probe are obtained based on the force-motion model and the constrained conditions of stiffness, measurement range and horizontal size. The results of the performance tests show that the probe has a contact force gradient within 0.5 mN/μm, a measuring range of (±20 μm), (±20 μm), and 20 μm, respectively, in X, Y and Z directions, and a measurement standard deviation of 30 nm. The feasibility of the probe has preliminarily been verified by testing the curved surface of a convex lens.     

1-N-alkyl -3-methylimidazolium ionic liquids as neat lubricants and lubricant additives in steel–aluminium contacts

The influence of the alkyl chain length and of the anion on the lubricating ability has been studied for the room-temperature ionic liquids (IL) 1-n-alkyl-3-methylimidazolium X⁻ [X = PF₆; n = 6 (L-P106). X = BF₄; n = 2 (L102), 6 (L106), 8 (L108). X = CF₃SO₃; n = 2 (L-T102). X = (4-CH3C6H4SO3); n = 2 (L-To102)]. Neat IL have been used for AISI 52100 steel-ASTM 2011 aluminium contacts in pin-on-disk tests under variable sliding speed. While all IL give initial friction values lower than 0.15, real-time sharp friction increments related to tribochemical processes have been observed for L102 and L-P106, at room-temperature and at 100 °C. Electronic microscopy (SEM), energy dispersive (EDS) and X-ray photoelectron (XPS) spectroscopies show that wear scar surfaces are oxidized to Al₂O₃ and wear debris contain aluminium and iron (for L102) fluorides. For L-P106, the steel surface is covered with a P-containing tribolayer. A change of anion (L-T102; L-To102) reduces friction and wear, but the lowest values are obtained by increasing the alkyl chain length (L106; L108). When the more reactive L102 and L-P106 are used as 1 wt.% base oil additives at 25 °C, tribocorrosion processes are not observed and a friction reduction (69–75% for 1 wt.% L102) and a change from severe (10⁻³ mm³ m⁻¹) to mild wear (10⁻⁴ to 10⁻⁶ mm³ m⁻¹) is obtained with respect to the neat IL. 1 wt.% IL additives also show good lubricating performance at 100 °C.     

Development of high-precision micro-roundness measuring machine using a high-sensitivity and compact multi-beam angle sensor

With recent development in advanced manufacturing, demand for nanometric accuracy in dimensional metrology has increased dramatically. To satisfy these requirements, we propose a high-accuracy micro-roundness measuring machine (micro-RMM) using a multi-beam angle sensor (MBAS). The micro-RMM includes three main parts: the MBAS, a rotary unit, and a bearing system. The MBAS has been designed and established in order to improve motion accuracy of the micro-RMM. The dimensions of the MBAS are 125(L) mm × 130(W) mm × 90(H) mm. Compared with other methods, an MBAS is less susceptible to spindle error (stage-independence) when detecting angles, can maintain high sensitivity with miniaturized size, and can be used conveniently at the factory level. The optical probe, reported in this paper, is based on the principle of an autocollimator, and the stability is improved when using the MBAS. Unlike multi-probe methods, the micro-RMM is constructed to realize roundness measurement by using only one probe, which is less susceptible to instrumental errors. Experimental results confirming the feasibility of the multi-beam angle sensor for roundness measurement are also presented.     

Verification of the positioning accuracy of industrial coordinate measuring machine using optical-comb pulsed interferometer with a rough metal ball target

An optical-comb pulsed interferometer was developed for the positioning measurements of the industrial coordinate measuring machine (CMM); a rough metal ball was used as the target of the single-mode optical fiber interferometer. The measurement system is connected through a single-mode fiber more than 100 m long. It is used to connect a laser source from the 10th floor of a building to the proposed measuring system inside a CMM room in the basement of the building. The repetition frequency of a general optical comb is transferred to 1 GHz by an optical fiber-type Fabry–Pérot etalon. Then, a compact absolute position-measuring system is realized for practical non-contact use with a high accuracy of measurement. The measurement uncertainty is approximately 0.6 μm with a confidence level of 95%.     

Uncertainty evaluation of the 20 kN m deadweight torque standard machine

A deadweight-type torque standard machine of 20 kN m rated capacity (20 kN m-DWTSM) has been designed and developed by the National Metrology Institute of Japan (NMIJ) at the National Institute of Advanced Industrial Science and Technology (AIST). Each uncertainty contribution comes mainly from the performance of each mechanical part of the 20 kN m-DWTSM. Authors evaluated the uncertainty of the mass of the linkage weights, local acceleration of gravity, influence of air buoyancy on deadweight loading, initial moment-arm length (including CMM measurement and temperature compensation), and sensitivity of the fulcrum. This report deals especially with evaluation of the remaining contributions, namely the influence of arm flexure and reference line variation at the end of the moment-arm on best measurement capability (BMC). Estimation of BMC in the 20 kN m-DWTSM gave a relative expanded uncertainty of less than 7.0 · 10⁻⁵ (k = 2) for the calibration range from 200 N m to 20 kN m.     

A multilevel calibration technique for an industrial robot with parallelogram mechanism

This paper presents a multilevel calibration technique for improving the absolute accuracy of an industrial robot with a parallelogram mechanism (ABB IRB2400). The parallelogram structural error is firstly modeled based on the partial differential of the position function of a general four-bar linkage and the linearization of the position constraints of the parallelogram mechanism, the model coefficients are fitted from experimental data. Secondly, an absolute kinematic calibration model is established and resolved as a linear function of all the kinematic parameters, as well as the base frame parameters and tool parameters. Finally, contrary to most other similar works, the robot joint space (rather than Cartesian space) is divided into a sequence of fan-shaped cells in order to compensate the non-geometric errors, the positioning errors on the grid points are measured and stored for the error compensation on the target points. After the multilevel calibration, the maximum/mean point positioning errors on 284 tested configurations (evenly distributed in the robot common workspace) are reduced from 1.583/0.420 mm to 0.172/0.066 mm respectively, which is almost the same level as the robot bidirectional repeatability.     

Study on tribological properties of UHMWPE irradiated by electron beam with TMPTMA and TPGDA as crosslinking agents

Trimethylolpropane trimethacrylate (TMPTMA) and tripropylene glycol diacrylate (TPGDA) used as crosslinking agents were blended with ultra-high molecular weight polyethylene (UHMWPE or UPE) in alcohol, respectively. Then UPE plates were made by compression molding and electron beam (EB) irradiation crosslinking methods. FTIR, Soxhlet extractor, DSC, Wear tester and SEM were used for the characterization of all specimens. FTIR analyses show that trans-vinylene (965 cm^?1) absorption increases in all specimens and the >C=C< stretching absorption decreases after irradiation. Soxhlet experiments reveal that gel fraction increases with the increasing dose. DSC results indicate that X_c of all the irradiated UPEs are higher than that of unirradiated UPEs because of the free radical and small molecular which can promote the crystallization. Wear rate of 100 kGy 1%TMPTMA/UPE and 1%TPGDA/UPE are 1.89×10^?7 mm³/(N m) and 4.28×10^?7 mm³/(N m), about 44.2% and 100% of that of 100 kGy UPE, respectively, illustrating that TMPTMA is beneficial to reduce the wear rate of UPE and TPGDA almost has no effect to reduce the wear rate of UPE before 100 kGy. SEMs of irradiated specimens are more smooth than that of unirradiated specimens. These can give some advice to improve tribological properties of UPE used in the friction field.     

Non-kinematic calibration of a six-axis serial robot using planar constraints

This paper describes a non-kinematic calibration method developed to improve the accuracy of a six-axis serial robot, in a specific target workspace, using planar constraints. Simulation confirms that the stiffness of the robot, as well as its kinematic parameters, can be identified. An experimental validation shows that the robot's accuracy inside the target workspace is significantly enhanced by reducing the maximum distance errors from 1.321 mm to 0.274 mm. The experimental data are collected using a precision touch probe, which is mounted on the flange of a FANUC LR Mate 200iC industrial robot, and a high precision 9-in. granite cube. The calibration method makes use of a linear optimization model based on the closed-loop calibration approach using multi-planar constraints. A practical validation approach designed to reliably evaluate the robot's accuracy after calibration is also proposed.     

An orifice meter for bidirectional air flow measurements: Influence of gas thermo-hygrometric content on static response and bidirectionality

This paper presents the design and calibration of an ISO non-compliant orifice plate flowmeter whose intended use is for respiratory function measurements in the bidirectional air flow range ±9 L/min.The novelty of the proposed sensor consists of a plate beveled in both upstream and downstream sides: a symmetrical geometry is adopted in order to perform bidirectional measurements of flow rate. A mathematical model is introduced to quantify the influence of temperature on the sensor output. Four different positions of the pressure static taps are evaluated in order to maximize bidirectionality. An index is also introduced in order to quantitatively estimate the anti-symmetry of the sensor's response curve.Trials are carried out to evaluate the influence on sensor output of air temperatures (22 °C, 30 °C and 37 °C) at different values of relative humidity (5%, 55% and 85%). Experimental data show a quite good agreement with the theoretical model (R²>0.98 in each condition).The influence of air temperature on the sensor output is minimized by introducing a correction factor based on the theoretical model leading to measurement repeatability better than 2% in overall range of calibration. The mean sensitivity in the calibration range is about 2 kPa L⁻¹·min allowing to obtain a sensor discrimination threshold lower than 0.2 L/min in both directions. The time constant of the whole measurement system, equal to 2.40±0.03 ms, leads to a bandwidth up to 80 Hz making the sensor suitable for respiratory function measurements.     

Development and evaluation of a two-axial shearing force sensor consisting of an optical sensor chip and elastic gum frame

We developed a promising shearing force sensor that is small in size and can measure shearing force along two axes independently. This sensor consists of an elastic gum frame and an optical sensor chip (6 mm × 6 mm × 8 mm). From the experimental results, the resolutions of the sensor along the x- and y-axes are found to be 0.070 N and 0.063 N. We also experimentally demonstrated that the sensor can separately measure shearing force along two axes. Finally, we demonstrated that the scale factor which correspond to resolution and linear portion which correspond to measuring range of the signals can be changed easily by using three types of elastic gum frame. This sensor can be embedded in the finger of a robot hand and use it to not only measure shearing force but also detect the slip phenomenon.     

Diagonal in space of coordinate measuring machine verification using an optical-comb pulsed interferometer with a ball-lens target

This paper presents a new optical method of coordinate measuring machine (CMM) verification. The proposed system based on a single-mode fiber optical-comb pulsed interferometer with a ball lens of refractive index 2 employed as the target. The target can be used for absolute-length measurements in all directions. The laser source is an optical frequency comb, whose repetition rate is stabilized by a rubidium frequency standard. The measurement range is confirmed to be up to 10 m. The diagonals of a CMM are easier to verify by the proposed method than by the conventional artifact test method. The measurement uncertainty of the proposed method is also smaller than that of the conventional method because the proposed measurement system is less affected by air temperature; it achieves an uncertainty of approximately 7 μm for measuring lengths of 10 m. The experimental results show that the measurement accuracy depends on noise in the interference fringe, which arises from airflow fluctuations and mechanical vibrations.     

High-precision radius measurement of ball indenter

To solve the problem of calibrating the radius of a ball indenter in a hardness tester, a laser confocal radius measurement and calibration method for the ball indenter is proposed without separating the ball from the body of the indenter. The laser confocal radius measurement and calibration method uses the maximum of the confocal axial intensity curve to precisely identify the cat’s eye and confocal position of the test ball indenter. The distance between these two positions is then measured to achieve high-precision radius measurement. The theoretical analyses and experimental results indicate that the radius measurement uncertainty of the ball indenter with a diameter of 1.5875 mm is within 0.12 μm.     

Friction and wear properties of αFeSi2–Si alloy,ReSi1.8 and MoSi2 in ethyl alcohol

In this study, Fe–X at% Si alloy (X=70.5, 80.0 and 96.0), Re–64.3 at% Si and Mo–66.7 at% Si disk specimens were prepared by spark plasma sintering, and their friction and wear properties were investigated when they were slid against Si₃N₄ ball specimens in ethyl alcohol. The friction and wear properties of Si ingots were also examined. Fe–70.5 at% Si, Fe–80.0 at% Si, Fe–96.0 at% Si and Re–64.3 at% Si disk specimens exhibited friction coefficients as low as 0.15. It is considered that the low friction of the Fe–70.5 at% Si, Fe–80.5 at% Si and Fe–96.0 at% Si disk specimens was due to the formation of low friction silicon alkoxide and polyoxysilane on the worn surfaces of the disk specimens and the paired ball specimens. Re–64.3 at% Si disk specimens exhibited the highest microvickers hardness of all the disk specimens prepared in this study. In addition, the microvickers hardness of the Fe–X at% Si (X=70.5, 80.0, 96.0 and 100) disk specimen increased with increasing the Si content. Moreover, it was difficult to obtain dense Fe–90.0 at% Si disk specimens by sintering the annealed and crushed Fe–90.0 at% Si powder. However, dense Fe–96.0 at% Si disk specimens could be obtained by sintering the Fe–90.0 at% Si powder at 1403 K.     

Two-dimensional matrix-based non-complex axis-of-rotation error modeling

This work applies to the evaluation of a spindle as an integral part of a machine whose task is the measurement or modifying the shape or other parameter of a workpiece. This includes the co-influences of the spindle, its drive units and structural loop of the machine. First, the matrix-based two-dimensional simplified solution free of complex numbers is described. Second, bounds that encompass all possible radial error motions are determined from the matrix-based model. Third, it is shown that excited unidirectional resonances are improperly perceived as retrograde errors during evaluation due to the calculation and removal of reference ball eccentricity effects. Fourth, using a Fourier multi-dimensional spatial spectrum model, the stator referenced spindle error can result in a particular mth spectral component producing an effect at both the m + 1 and m − 1 spatial frequencies on the workpiece if the tool is mounted on the rotor. Fifth, it is shown how to directly calculate the (+ and −) mth characteristic rotating vectors. Sixth, a quick consideration will be given to estimating 3D part errors on radially varying surfaces such as but not limited to cones and spheres.     

On-site calibration system for trace humidity sensors

A portable device for calibration of trace humidity sensors and an adopted calibration procedure have been developed. The calibration device is based on humidity generation by permeating water through polymeric membrane tubes. Water vapour transmission rates for various polymers were experimentally determined in order to select the most suitable polymeric material. The developed trace humidity generator consists of a gas-flow polymeric hose immersed in a water reservoir thermostated by a sensor-controlled heater. Mole fractions of water vapour between 1 μmol mol⁻¹ and 350 μmol mol⁻¹ (equivalent to frost-point temperatures from −76 °C to −31 °C) were generated by varying either the operating temperature or gas flow. The operating temperature can be varied from 20 °C to 60 °C and kept stable within 0.1 K. Uncertainty analysis indicated that the trace humidity generator produces gas flows of constant humidity amounts with a relative expanded uncertainty less than 3.4% (k = 2) of the generated value.