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International audience; The six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex applications such as drilling, riveting, fiber placement, NDT, etc. Given the positioning performance of serial robots, precision applications require usually external measurement device with complexes calibration procedure in order to reach the precision needed. New applications in the machining field of composite material (aerospace, naval, or wind turbine for example) intend to use off line programming of serial robot without the use of calibration or external measurement device. For those applications, the position, orientation and path trajectory precision of the tool center point of the robot are needed to generate the machining operation. This article presents the different conditions that currently limit the development of robots in robotic machining applications. We analyze the dynamical behavior of a robot KUKA KR240-2 (located at the University of Bordeaux 1) equipped with a HSM Spindle (42000 rpm, 18kW). This analysis is done in three stages. The first step is determining the self-excited frequencies of the robot structure for three different configurations of work. The second phase aims to analyze the dynamical vibration of the structure as the spindle is activated without cutting. The third stage consists of vibration analysis during a milling operation.

International audience; This paper proposes a method to vibration analysis in order to on-line monitoring of milling process quality. Adapting envelope analysis to characterize the milling tool materials is an important contribution to the qualitative and quantitative characterization of milling capacity and a step by modeling the three-dimensional cutting process. An experimental protocol was designed and developed for the acquisition, processing and analyzing three-dimensional signal. The vibration envelope analysis is proposed to detect the cutting capacity of the tool with the optimization application of cutting parameters. The research is focused on Hilbert transform optimization to evaluate the dynamic behavior of the machine/ tool/workpiece.

Vibrational properties of wood are affected by several parameters, of which extractives can be one of the most important ones. Wood for European musical instruments has been often studied, but traditional Middle Eastern ones had been left unnoticed. In this study white mulberry (Morus alba L.), the main material for long-necked lutes in Iran, was extracted by five solvents of various polarities (water included). Free-free bar forced vibrations were used to measure longitudinal (L) loss tangent (tanδ), storage (elastic) modulus (E′) and specific modulus (E′/γ) in the acoustic range. Their anisotropy between the 3 axes of orthotropy was determined by dynamic mechanical analysis. Native wood had a quite low E L′/γ but its tanδ was smaller than expected, and the anisotropy of tanδ and E′/γ was very low. Removal of extractives caused tanδ to increase and moduli to decrease. Acetone, the most effective solvent on damping despite a moderate extraction yield, increased tanδ L by at least 20% but did not modify E′/γ as much. When used successively, its effects masked those of solvents used afterwards. Anisotropy of E′/γ was nearly unchanged after extraction in methanol or hot water, while tanδ was much more increased in R than in T direction. Results suggest that in white mulberry, damping is governed more by nature and localization of extractives rather than by their crud abundance.

Acknowledgements The authors would like to thank the French “Ministère des Affaires étrangères et européennes” for the financial support of this project under the program ECO-NET project N° 21367XL; International audience; A testing device in turning including, in particular, a six-component dynamometer, is used to measure the complete torque of the cutting actions, in a case of self-excited vibrations. For the tests, the used tool was a noncoated carbide tool (TNMA 160412) without chip breaker. The cutting material is a chrome molybdenum alloy type (ASI 4140). The cylindrical test tubes have a diameter of 120 mm and a length of 30 mm. For the first time, we present an analysis of forces and moments for different depths of cut and different feed rates.