PREDICTION OF WIDTH AND DEPTH OF CUT IN LASER MACHINING OF PMMA USING A CO2 LASER.

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dc.contributor.author Wangui, E.
dc.contributor.author Ikua, B. W.
dc.contributor.author Nyakoe, G. N.
dc.contributor.author Mulembo, T
dc.date.accessioned 2017-05-24T12:36:36Z
dc.date.available 2017-05-24T12:36:36Z
dc.date.issued 2017-05-24
dc.identifier.uri https://www.researchgate.net/profile/Esther_Wangui/publication/271473484_Prediction_of_width_and_depth_of_cut_in_laser_machining_of_PMMA_using_a_CO2_laser/links/54c8bafb0cf22d626a3a0f5a.pdf
dc.identifier.uri http://hdl.handle.net/123456789/3183
dc.description.abstract This paper focuses on the development of bond graph dynamic model of the mechanical dynamics of an excavating mech- anism previously designed to be used with small tractors, which are fabricated in the Engineering Workshops of Jomo Kenyatta University of Agriculture and Technology. To develop a mechanical dynamics model of the manipulator, forward recursive equations similar to those applied in iterative Newton-Euler method were used to obtain kinematic relationships between the time rates of joint variables and the generalized cartesian velocities for the centroids of the links. Representing the obtained kinematic relationships in bond- graphic form, while considering the link weights and momenta as the elements led to a detailed bond graph model of the manipulator. The bond graph method was found to reduce significantly the number of recursive computations performed on a 3 DOF manipulator for a mechanical dynamic model to result, hence indicating that bond graph method is more computationally efficient than the Newton-Euler method in developing dynamic models of 3 DOF planar manipulators. The model was verified by comparing the joint torque expressions of a two link planar manipulator to those obtained using Newton- Euler and Lagrangian methods as analyzed in robotic textbooks. The expressions were found to agree indicating that the model captures the aspects of rigid body dynamics of the manipulator. Based on the model developed, actuator sizing and valve sizing methodologies were developed and used to obtain the optimal sizes of the pistons and spool valve ports respectively. It was found that using the pump with the sized flow rate capacity, the engine of the tractor is able to power the excavating mechanism in digging a sandy-loom soil. en_US
dc.language.iso en en_US
dc.publisher Proceedings o f the KSEEE-JSAEM 2012 International Engineering Conference en_US
dc.relation.ispartofseries Proceedings o f the KSEEE-JSAEM 2012 International Engineering Conference;15th-17th August 201 2
dc.subject Laser machining en_US
dc.subject CO2 Laser en_US
dc.subject JKUAT en_US
dc.subject Kenya en_US
dc.title PREDICTION OF WIDTH AND DEPTH OF CUT IN LASER MACHINING OF PMMA USING A CO2 LASER. en_US
dc.type Article en_US


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