Browse wiki

From CERES
Jump to: navigation, search
Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool
Abstract <p>The paper presents a development <p>The paper presents a development case of robotic machine for the dismantling of steel-concrete structures using diamondwire technology. The focus is on the application of the so called soft-wire with core made of superelastic alloy in placeof the steel rope traditionally used. Remote-controlled machinery operating in risky areas must be the simplest possiblefor reliability and to shorten the development time as generally these machines are tailored to the task. In the case ofdismantling of nuclear equipment there are two additional reasons to prefer simple designs: the need to decommission thecutting machinery together with the nuclear wastes and the limit to the use of electronics onboard due to radiation. Withsteel-cored cutting wires an active tensioner is needed to compensate for tension shocks occurring during cutting. This isthe most complex component of the cutting system and it requires a control system with actuation and some electronics.A significant benefit comes from the removal of the active tensioner. The current direction is the use of soft wires inplace of the ones with steel core. The steel rope is replaced by a core wire made of superelastic alloy. The tension ofthe wire is an independent cutting parameter. The selection of the core wire architecture and diameter, the point alongthe stress-strain curve where the wire superelastic alloy is in nominal conditions and the use of stress-strain plafond inthe curve are critical. The paper discusses first the principles of cutting with soft wire. Then the design of the cuttingsystem is addressed and the requirements of robotized cutting machinery is discusses. Different simulation schemes andapproaches are proposed to model cutting forces and system dynamics.In a multibody model with the wire treated asa discontinuous flexible winded along a system of pulleys. The data from the multibody analysis is used in the Finiteelements to characterize the static and dynamic response of Pseudo-elastic wire segment between the two diamond beads.</p>t between the two diamond beads.</p>
Author Jawad Masood + , Matteo Zoppi + , Rezia Molfino +
Conference 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), June 7-9, 2010, Munich, Germany
Diva http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:575698
HostPublication 2010 41st International Symposium on Robotics : ISR, and, 2010 6th German Conference on Robotics (ROBOTIK) : June 7-9, 2010, Munich, Germany  +
PublicationType Conference Paper  +
Publisher IEEE Press  +
Title Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool  +
Year 2010  +
Has queryThis property is a special property in this wiki. Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool + , Publications:Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool +
Categories Publication  +
Modification dateThis property is a special property in this wiki. 26 June 2014 03:42:17  +
hide properties that link here 
  No properties link to this page.
 

 

Enter the name of the page to start browsing from.