Robotic shaping of a thin rheological material over a moulding object – Modeling and experimental validation
Robotic shaping of a thin rheological material over a moulding object – Modeling and experimental validation
复制标题
在成型物体上对薄流变材料进行机器人成型 – 建模和实验验证
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Xiu T. Yan
中科院分区：
文献类型：
--
作者：
S. Cocuzza;Xiu T. Yan
鉴于流变物的自动操纵和成形，例如食品材料或生物组织，出现了从工程角度对材料进行建模和表征以及构建整个流变物的动态模型的需要。本文提出了一种集总质量-弹簧-阻尼器(MSD)模型，用于研究和模拟薄流变材料在模塑物体上的二维成形。首先，提出了一种从实验拉伸试验中识别材料性能的三步法，并进行了验证。由于材料数学模型与实验数据的一致性，该方法既可以识别材料的性质，又可以验证所用的三元材料模型。在此基础上，建立了流变体的多体模型，并在两种试验情况下验证了该模型的有效性：在第一种情况下，流变物仅在重力作用下变形，在第二种情况下，流变物在成形工具的作用下发生变形。最后，使用经过验证的模型，通过动态模拟来比较刀具的不同成形运动和速度，特别注意材料中必须充分远离断口的内部拉力，以及成形操作的质量，该成形操作与所产生的总不可恢复变形直接相关。两步成形运动相对于更简单的运动更有利，因为在材料中产生的内力显著减少，同时成形操作的质量仍然得到保证。
In view of the automatic manipulation and shaping of rheological objects, e.g. food material or biological tissues, the need of modeling and characterizing the material from an engineering point of view and of constructing a dynamic model of the whole rheological object arise. In this paper, a catenary-like Mass-Spring-Damper (MSD) model formed of lumped masses interconnected with three-element units is proposed to study and simulate the 2-D shaping of a thin rheological material over a moulding object. First, a three-step method for identifying the material properties from experimental tensile tests is proposed and validated. The method has allowed both to identify the material properties and to validate the three-element material model used, thanks to the close agreement between the material mathematical model and the experimental data. Then, a multibody model of the rheological object is proposed, which has been validated thanks to the close agreement between the simulated deformation profile and the experimental one in two test cases: in the first test case the rheological object deforms under the load of the gravity force only, and in the second one it is forced to deform by a shaping tool. Finally, the validated model is used in order to compare different shaping movements and velocities of the tool by dynamic simulations, with particular attention to the internal tensile force generated in the material which has to be sufficiently far from the break and the quality of the shaping operation which is directly related to the total non-recoverable deformation generated. A two-step shaping movement results more advantageous with respect to simpler motions since significantly reduced internal forces are generated in the material while the quality of the shaping operation is still guaranteed.
登录
查看更多内容
DOI：
10.1109/robot.2004.1308104
发表时间：
2004-09
期刊：
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
影响因子：
--
作者：
R. Nogami;H. Noborio;Fumiaki Ujibe;H. Fujii
通讯作者：
R. Nogami;H. Noborio;Fumiaki Ujibe;H. Fujii
通过随机算法校准流变学 MSD 模型的精确变形
DOI：
--
发表时间：
2003
期刊：
Eurographics 2003
影响因子：
--
作者：
Hiroshi Noborio;Ryo Nogami;Ryo Enoki
通讯作者：
Ryo Enoki
DOI：
--
发表时间：
2003
期刊：
IEEE Int. Conf. on Robotics and Automation
影响因子：
--
作者：
Masafumi Kimura;Yuuta Sugiyama;Seiji Tomokuni;Shinichi Hirai
通讯作者：
Shinichi Hirai
DOI：
--
发表时间：
2001
期刊：
Proc. World Multiconference on Systemics, Cybernetics and Informatics
影响因子：
--
作者：
Shinichi Tokumoto;Shinichi Hirai;Hiromi T. Tanaka
通讯作者：
Hiromi T. Tanaka
改进随机算法标定流变物体变形模型的研究
DOI：
--
发表时间：
2003
期刊：
IEEE Int. Conf. on Robotics and Automation
影响因子：
--
作者：
Hiroshi Noborio;Ryo Enoki;Shohei Nishimoto;Takumi Tanemura
通讯作者：
Takumi Tanemura