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A machine is a physical system using power to apply forces and control movement to perform an action. The term is commonly applied to artificial devices, such as those employing engines or motors, but also to natural biological macromolecules, such as molecular machines. Machines can be driven by animals and people, by natural forces such as wind and water, and by chemical, thermal, or electrical power, and include a system of mechanisms that shape the actuator input to achieve a specific application of output forces and movement. They can also include computers and sensors that monitor performance and plan movement, often called mechanical systems. Renaissance natural philosophers identified six simple machines which were the elementary devices that put a load into motion, and calculated the ratio of output force to input force, known today as mechanical advantage. Modern machines are complex systems that consist of structural elements, mechanisms and control components and includ

Méthode d'étalonnage d'une machine-outil à cinématique parallèle à cinq axes à grands angles d'inclinaison

Hélène Frayssinet Mazerolle

A machine-tool is able to manufacture precisely only when it is calibrated. Calibration consists in correcting the model of the machine so that it represents the real kinematics. On no account calibrating a structure consists in changing some parts of the machine. The industrial machining prototype of the Hita-STT (Stiffness Tracking Technology) machine-tool has a four-axis parallel kinematics associated to a turning table as left hand. The spindle is fixed to the parallel kinematics; the workpiece is fixed to the turning table. This new machine-tool was developed by the Laboratoire de Systèmes Robotiques from EPFL and Willemin-Macodel S.A. For its industrialization, it needs an absolute accuracy of 10 microns after calibration considering a repeatability of 5 microns. These specifications should be obtained in the entire workspace between the spindle and the turning device. This doctoral thesis deals with the calibration of the Hita-STT machine-tool. Several methods can be developed. They differ in: the geometrical model that is used. For each kinematics, three geometrical models exist: the implicit model, the forward geometrical model and the inverse geometrical model; the way the corrections are applied. Pose errors are compensated correcting the commands sent to the controller; or the parameters of the structure are identified and updated on the controller. This last solution allows to use a model for the control of the machine that is closer to the real kinematics. These different methods are presented and compared. An optimal calibration method is proposed. Whatever calibration methodology is chosen, it is divided into four steps: modeling the kinematics. An unique distribution of the parameters of the Hita-STT parallel kinematics is proposed; measurement of the pose errors. The choice and the design of the measuring device are presented. A set-up and characterization procedure is explained. It is compatible with the industrial environment. The pose errors measurements are automatic thanks to special ISO functions added to the controller. Data processing is automatic; calculation of the corrections of the model. Several methods are compared in terms of accuracy that can be obtained. An "ideal" method is proposed for the parallel kinematics calibration. It combines the two families of calibration methods, it means an identification method followed by a direct calibration method; implementation. The "ideal" method is tested on the industrial machining prototype Hita-STT. The structure of the programs used to automate the calibration process are given. Tests used to verify the calibration quality are presented. They can also be used to make sure that the parallel kinematics is accurate enough to satisfy the required quality of the manufactured parts.

EPFL2007

Contribution to the active generator principle for high power electric supply

Massimiliano Visintin

In recent years the use of solid state frequency converters is rapidly increasing in the industrial and power plants where electric machines are installed, since it allows variable speed operations for the electric system, thus becoming a key factor which is capable of increasing the overall efficiency, as well as the global plant flexibility. The benefits that can be reached when electric motors are under investigation can be so enticing, in particular from the perspective of the operating machine coupled to the motor, that drawbacks take a back seat and can be overcome. On the contrary, power electronic for variable speed is generally not used in power generation, since the gains brought out by the present technology are not sufficient to attract anyone's interest. There are some exceptions in the wind- and the hydro power plant businesses, where there are some cases of variable speed already introduced. However in the former applications the output power is limited to some MW, while in the latter the converter is sized only to a fraction of the whole generating power, since it feeds the machine's rotor.This dissertation investigates on a possible electronic converter for power generation in the 40 MW range and above, which is also attracting from both the cost's and the efficiency's point of view, as well as from the operation reliability perspective and thus may be proposed as a breakthrough in this field. Among the possible frequency converters, those ones have been selected which perform natural commutations only, i.e. those that employ thyristors as the semiconductor devices, since the efficiency, the robustness and the relatively high performances are actually the key success factors to be addressed from the beginning. Well known matrix converter topologies will be referred to, as well as new matrix converter arrangements will be brought out and analyzed: their behaviours will be targeted by the dissertation, in particular when different strategies are adopted for controlling the operations. Specifically comparisons will be carried out when the same converter topology is used, but driven by either the well-known cycloconverter strategy or the newly brought out "active generator" one. In addition several generator winding arrangements will be proposed and analyzed, with the aim of increasing the actual feasibility of the proposed solution. Finally some test results on a sized down experimental rig will be analyzed and compared to the simulation outcomes.

EPFL2006

Experimental Contribution to the Mechanics of Herringbone Grooved Journal Air Bearings

Ivan Ognjanovic

Gas Lubricated Herringbone Grooved Journal Bearings (HGJB) have long been used in equipment such as navigation systems, optical scanners for laser printers and high speed cameras and disk spindle for flyhead testers. All such applications are characterized by a relatively small size (journal diameter

EPFL2011