Measurement of Forces and Torques during Non-Homogeneous Material Drilling Operation
Measurement of Forces and Torques during Non-Homogeneous Material Drilling Operation作者机构：Faculty of Mechanical Engineering Universiti Teknologi MARA Shah Alam 40450 Malaysia
出 版 物：《Journal of Mechanics Engineering and Automation》 (机械工程与自动化（英文版）)
年 卷 期：2011年第1卷第2期
页 面：139-146页
学科分类：081104[工学-模式识别与智能系统] 08[工学] 0811[工学-控制科学与工程] 080102[工学-固体力学] 0801[工学-力学（可授工学、理学学位）]
主 题：非均质材料 钻井过程 力矩测量 作业过程 Simulink环境 扭矩传感器 Matlab 6自由度
摘 要：The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material (bone). An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.
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