Gabriel Abba - Academia.edu (original) (raw)
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Papers by Gabriel Abba
International Journal of Material Forming, 2009
In this study, an experimental setup of a forging process has been designed which allows to apply... more In this study, an experimental setup of a forging process has been designed which allows to apply vibrations to the lower die of amplitude ranging from 0 to 80 µm at frequencies varying from 1 to 130 Hz thanks to the use of a stack piezoelectric actuator fed by an electronic inverter. In order to explore those results, a coupling model has been developed to provide a design tool in a mechatronic frame which consists of an analytical model of the forging process based on simplified visco-plastic laws and a state space model of the piezoelectric actuator based on a finite element approach [1]. The coupling model can be used to analyse the important parameters of the whole process in order to optimize the forging process design using mechanical vibrations or to control the process if necessary. A finite element simulation of forging process using mechanical vibration based on finite element software Forge2008® is also presented in this study. The results obtained by experiment, finite element simulation and simulation using the model above are compared in the case of simple upsetting, with good agreement. Moreover, it can be concluded that high frequencies are not required to observe this phenomenon. Finally visco-plasticity phenomenon is not self-sufficient to explain completely the force reduction.
1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation, 1997
Abstract The context of our research is the study of legged robots. In order to realize autonomou... more Abstract The context of our research is the study of legged robots. In order to realize autonomous legged robots, the energy consumption during a step should be minimized. The method proposed is based on the expansion in Fourier's series of the joint trajectories. ...
Cutting Edge Robotics 2010, 2010
7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013, 2013
Proceedings of the 16th IFAC World Congress, 2005, 2005
ABSTRACT The objective of this report is to detail the models used in simulation and the results ... more ABSTRACT The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process.This report contains in a first part the details of modeling flexibilities of serial robots primarily through a model of localized flexibilities. The flexibilities are expressed both in Cartesian space and in the joint space and taking into account possible couplings.The second part deals with the dynamic model used in the simulator and the simulation environment. A significant work was to also model the company Kuka robot controller. Machining processes and FSW are modeled by simple models but reflecting the reality of the behavior.
Journal of Materials Processing Technology, 2016
2007 International Conference on Perspective Technologies and Methods in MEMS Design, 2007
In this paper, a comprehensive introduction of micro milling technology, which is a novel micro-m... more In this paper, a comprehensive introduction of micro milling technology, which is a novel micro-manufacturing technology to fabricate many materials with complex 3D and high aspect ratio structure, is presented. Compared with some other micro-manufacturing technologies, micro milling has a lot of merits, such as low cost, flexibility. The machine tool, micro mills, and monitoring devices are the key technologies,
7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013, 2013
Mécanique & Industries, 2003
Control in robotics needs more and more precise models of the mechanical parts of the structure a... more Control in robotics needs more and more precise models of the mechanical parts of the structure and specially for a complex system such as a biped robot. An important but difficult aspect of this work is the modelling of the mechanical loss due to friction in the chain of ...
Key Engineering Materials, 2008
Proceedings of 3rd IEEE International Conference on Image Processing, 1996
International Journal of Material Forming, 2009
In this study, an experimental setup of a forging process has been designed which allows to apply... more In this study, an experimental setup of a forging process has been designed which allows to apply vibrations to the lower die of amplitude ranging from 0 to 80 µm at frequencies varying from 1 to 130 Hz thanks to the use of a stack piezoelectric actuator fed by an electronic inverter. In order to explore those results, a coupling model has been developed to provide a design tool in a mechatronic frame which consists of an analytical model of the forging process based on simplified visco-plastic laws and a state space model of the piezoelectric actuator based on a finite element approach [1]. The coupling model can be used to analyse the important parameters of the whole process in order to optimize the forging process design using mechanical vibrations or to control the process if necessary. A finite element simulation of forging process using mechanical vibration based on finite element software Forge2008® is also presented in this study. The results obtained by experiment, finite element simulation and simulation using the model above are compared in the case of simple upsetting, with good agreement. Moreover, it can be concluded that high frequencies are not required to observe this phenomenon. Finally visco-plasticity phenomenon is not self-sufficient to explain completely the force reduction.
1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation, 1997
Abstract The context of our research is the study of legged robots. In order to realize autonomou... more Abstract The context of our research is the study of legged robots. In order to realize autonomous legged robots, the energy consumption during a step should be minimized. The method proposed is based on the expansion in Fourier's series of the joint trajectories. ...
Cutting Edge Robotics 2010, 2010
7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013, 2013
Proceedings of the 16th IFAC World Congress, 2005, 2005
ABSTRACT The objective of this report is to detail the models used in simulation and the results ... more ABSTRACT The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process.This report contains in a first part the details of modeling flexibilities of serial robots primarily through a model of localized flexibilities. The flexibilities are expressed both in Cartesian space and in the joint space and taking into account possible couplings.The second part deals with the dynamic model used in the simulator and the simulation environment. A significant work was to also model the company Kuka robot controller. Machining processes and FSW are modeled by simple models but reflecting the reality of the behavior.
Journal of Materials Processing Technology, 2016
2007 International Conference on Perspective Technologies and Methods in MEMS Design, 2007
In this paper, a comprehensive introduction of micro milling technology, which is a novel micro-m... more In this paper, a comprehensive introduction of micro milling technology, which is a novel micro-manufacturing technology to fabricate many materials with complex 3D and high aspect ratio structure, is presented. Compared with some other micro-manufacturing technologies, micro milling has a lot of merits, such as low cost, flexibility. The machine tool, micro mills, and monitoring devices are the key technologies,
7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013, 2013
Mécanique & Industries, 2003
Control in robotics needs more and more precise models of the mechanical parts of the structure a... more Control in robotics needs more and more precise models of the mechanical parts of the structure and specially for a complex system such as a biped robot. An important but difficult aspect of this work is the modelling of the mechanical loss due to friction in the chain of ...
Key Engineering Materials, 2008
Proceedings of 3rd IEEE International Conference on Image Processing, 1996