Génie des procédés

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Author: search.filters.author.REZALA, AichaStart date: 2020

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    Tribological interests of borocarbonitruration in robotics
    (Université des Sciences et technologie Houari Boumediene, 2024-04) REZALA, Aicha
    The work aims is to improve the structure reliability of an industrial robot by improving the tribological mechanical characteristics systems that make it up of a thermochemical borocarbonitruration treatment that leads to the hard variable thickness layer formation which increases the wear and friction resistance properties of the robot elements. This surface layer gives the borocarbonitruration its tribological function and ensures the robot has a smooth operation at a reduced cost. The results show the advantages of additive elements in the basic alloys proposed for the robot modules' wear resistance. A comparison of the results obtained with those found in the literature indicates good agreement.
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    Analysis Randon Causes Repeatability Errors Inducted by Friction at Joints in Industrial Robots
    (2022-02-01) REZALA, Aicha; ARBAOUI, M
    The present study was carried out to investigate and analyze the positionning repeatability introduced by friction variations based on stochastic ellipsoids. A mixed friction model has been developed with improved properties compared to existing standard models. The contact is presented as a multitude of micro contacts whose nature can be of two types: lubricated and solid. This model is experimentally tested on a reciprocating tribometer under extreme friction conditions, with sliding speed varying from 0.1 to 3 m/s and load modified from 40N to 150N to discuss the effect of speed, the effect of nominal contact pressure and the effect of sliding distance on friction parameters. The results showed how this model can be represented as a sum of functions of the relevant states, which are linear and nonlinear in the friction parameters. Thus, these results were used to evaluate the covariance matrix in order to locate the different ranges of errors which have an impact on the repeatability of position.