Parts made from thermoplastic polymers fabricated through 3D printing have reduced mechanical properties compared to those fabricated through injection molding. This paper analyzes a post-processing heat treatment aimed at enhancing mechanical properties of 3D printed parts, in order to reduce the difference mentioned above and thus increase their applicability in functional applications. Polyethylene Terephthalate Glycol (PETG) polymer is used to 3D print test parts with 100% infill. After printing, samples are packed in sodium chloride powder and then heat treated at a temperature of 220 °C for 5 to 15 min. During heat treatment, the powder acts as support, preventing deformation of the parts. Results of destructive testing experiments show a significant increase in tensile and compressive strength following heat treatment. Treated parts 3D printed in vertical orientation, usually the weakest, display 143% higher tensile strength compared to a control group, surpassing the tensile strength of untreated parts printed in horizontal orientation—usually the strongest. Furthermore, compressive strength increases by 50% following heat treatment compared to control group. SEM analysis reveals improved internal structure after heat treatment. These results show that the investigated heat treatment increases mechanical characteristics of 3D printed PETG parts, without the downside of severe part deformation, thus reducing the performance gap between 3D printing and injection molding when using common polymers.

There is an increased interest in high entropy alloys as a result of the special possibilities of improving the mechanical, physical or chemical characteristics resulting from metallic matrices made of different chemical elements added in equimolar proportions. The next step in developing new alloys is to determine the cutting conditions to optimize manufacturing prescriptions. This article presents a series of tests performed to estimate the machining behavior of the Al_0.6CoCrFeNi high entropy alloy. The effects of temperature during machining, wear effects on the cutting tool, evolution of the hardness on the processed areas, cutting force components and resultant cutting force for high entropy alloy (HEA) in comparison with 304 stainless steel, scrap aspect and machined surface quality were analyzed to have an image of the HEA machinability. In terms of cutting forces, the behavior of the HEA was found to be about 59% better than that of stainless steel. XRD analysis demonstrated that the patterns are very similar for as-cast and machined surfaces. The wear effects that appear on the cutting edge faces for the tool made of rapid steel compared to carbide during HEA machining led to the conclusion that physical vapor deposition (PVD)-coated carbide inserts are suitable for the cutting of HEAs.

This article describes a method for the real-time monitoring of the current consumed by a Dynamixel MX 64 AT servomotor used in the actuation system of modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition method is based on an Arduino Mega 2560 development board interfaced with Matlab Simulink and the ASC712-5A hall sensor for current detection. A Simulink model is presented that performs the detection of a sensor reference voltage, which needs to be calibrated for a correct reading of the current. Due to the low resolution of the analog-to-digital converter with which the Arduino Mega is equipped, current monitoring is difficult to achieve, having large fluctuations and a lower resolution than the current absorbed by the servomotor. The solution to this problem is achieved by implementing, in the hardware construction, an ADS115 conversion module with 16-bit resolution, which leads to an increase in the measurement range of the ASC712-5A sensor. The current acquisition model with the Hall sensor is experimentally validated using measurements on the physical model of the drive wheel. This article further deals with the CAD and digital block modeling of mobile platforms with four and two wheels. The dynamic model of the robot is created in the Simulink–Simscape–Multibody environment and is used to determine the servomotor torques when the robot is moving along the predefined path. The torque variations are entered as variables in the Simulink digital block model of the robot. The Simulink model is simulated when moving along a square path, which determines the variation in the current absorbed by the motors. Experimental validation of the model is carried out using measurements on the functional models that operate in real conditions. A power consumption method is further proposed.

Welding is a technological variant of the electric resistance spot-welding process in which the machined protrusion on the surface is heated and rapidly deformed, and the small molten zone formed at the interface is then forged to form the weld spot. The paper analyses the effects of projection welding parameter values for thin, low-carbon aluminized steel sheets. Two sets of 16 welded samples having three or five protrusions were performed and analyzed using the Taguchi method. The microstructural aspects were analyzed in cross sections made through the welded points, highlighting the expulsion or accumulated effects of the Al-Si alloy protective layer and the formation of intermetallic compounds. To estimate the effect of welding parameters, the samples were subjected to tensile strength tests, and the fracture mode was evaluated. It was found that the values of the breaking forces were close for the two types of samples analyzed, for identical values of the welding regime parameters, but the elongation at break was double in the case of samples with five protrusions. The breaking force increased from 10.9 kN for samples with three protrusions to 11.4 kN for samples with five protrusions, for the same values of welding parameters.

This paper presents a comparative modeling and experimental validation study for a modular four-wheel omnidirectional mobile robot, focusing on two locomotion architectures implemented on the same platform: four omni wheels (90° rollers) and four Mecanum wheels (45° rollers). Both configurations were evaluated under identical benchmark conditions on a 1 m × 1 m square path (4 m total path length), using the same nominal 12 V supply and the same test duration, in order to ensure a fair and reproducible cross-architecture comparison. A MATLAB/Simulink–Simscape dynamic model was developed for both architectures, while experimental validation was performed using Hall-effect current sensors integrated into the drive modules. Based on the measured and simulated motor currents, a 12 V-based electrical input-power estimate was evaluated at both motor and robot level. For the considered benchmark, the four-Mecanum configuration exhibited a lower measured input-power estimate than the four-omni configuration (17.88 W vs. 25.75 W), corresponding to an approximate reduction of 30.6% under the adopted assumptions. At robot level, the deviation between simulated and measured total input-power estimate was 3.70% for the four-omni architecture and 21.42% for the four-Mecanum architecture, indicating higher predictive agreement for the omni-wheel model in its present form. The comparative analysis also suggests that wheel–ground interaction and roller geometry influence not only the measured current demand but also the level of agreement between simulation and experiment. Although the present study is limited to a single standardized benchmark and nominal-voltage conditions, it provides a controlled basis for comparing the two locomotion solutions and for identifying directions for further model refinement. The findings should therefore be interpreted as benchmark-specific comparative results offering practical guidance for locomotion architecture selection and for future refinement of friction-aware omnidirectional robot models.