In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well as the computation of the workspace of the robot are achieved by taking advantage of the decoupled orientation and position of the moving platform. Afterward, the input/output equation of velocity of the parallel robot is obtained by harnessing of the properties of reciprocal screw systems. Once the Jacobian matrices are identified and investigated, the analysis of singularities for the robot manipulator emerges as a natural application of the Jacobian analysis. Numerical examples are included with the purpose to show the practicality and versatility of the method of kinematic analysis. Furthermore, the numerical results obtained by means of the theory of screws are successfully verified with the aid of commercially available software like ADAMS.

In this paper, fractional calculus is used to develop a generalized fractional dynamic model of an electrohydraulic system composed of a servo valve and a hydraulic cylinder, where a fractional position controller $P{I}^{\gamma }{D}^{\mu }$ is proposed for minimizing the performance index according to the integral of the time-weighted absolute error (ITAE). First, the general mathematical equations of the cylinder and servo valve are used to obtain the transfer functions in fractional order by applying Caputo’s definition and a Laplace transform. Then, through a block diagram of the closed-loop system without a controller, the fractional model is validated by comparing its performance concerning the integer-order electrohydraulic system model reported in the literature. Subsequently, a fractional PID controller is designed to control the cylinder position. This controller is included in the closed-loop system to determine the fractional exponents of the transfer functions of the servo valve, cylinder, and control, as well as to tune the controller gains, by using the ITAE objective function, with a comparison of the following: (1) the electrohydraulic system model in integer order and the controller in fractional order; (2) the electrohydraulic system model in fractional order and the controller in integer order; and (3) both the system model and the controller in fractional order. For each of the above alternatives, numerical simulations were carried out using MATLAB^®/Simulink^® R2023b and adding white noise as a perturbation. The results show that strategy (3), where electrohydraulic system and controller model are given in fractional order, develops the best performance because it generates the minimum value of ITAE.

This research presents an experimental study focused on measuring temperature at the tool flank during the up-milling process at high cutting speed. The proposed system deals with emissivity compensation through a two-photodetector system and during calibration. A ratio pyrometer composed of two photodetectors and a multimode fiber-optic coupler is employed to capture the radiation emitted by the cutting insert. The pyrometer is calibrated using an innovative calibration system that addresses theoretical discrepancies arising from various factors affecting the measurement of cutting temperature. This calibration system replicates the milling process to generate a calibration curve. Experimentally, AISI 4140 steel is machined with coated tungsten carbide inserts, using cutting speeds of 300 and 400 m/min, and feed rates of 0.08 and 0.16 mm/tooth. The results reveal a maximum recorded cutting temperature of 518 °C and a minimum of 304 °C. The cutting temperature tends to increase with higher cutting speeds and feed rates, with cutting speed being the more influential factor in this increase. Both the pyrometer calibration and experimental outcomes yield satisfactory results. Finally, the results showed that the process and the device prove to be a convenient, effective, and precise method of measuring cutting temperature in machine processes.

Common assumption in analysis of a flexible one-link robot is to take account of a DC motor as actuator. This work presents the design and stability analysis of a tracking controller of a flexible-robot including the dynamics of a 3-phase induction motor, despite of its high nonlinear dynamics, to drive the joint of the one-link arm. In this manner, the dynamic model of a joint-flexible-robot is combined with the induction motor model to build the motion equations. A control law is proposed for the flexible one-arm robot to track a desired trajectory, thus, this control input is used like the reference torque for the induction motor control. A stability analysis by Lyapunov criterion is detailed to demonstrate the tracking errors are globally exponentially stable. Simulations show the effectiveness of the proposed approach even when the one-link arm is subjected to uncertainty in parameters and external disturbances.