The objective of this study is to investigate the feasibility of machining micro-holes on the non-conductive Aluminum Nitride (AlN) ceramics using micro-electro-discharge machining (EDM) process by exploiting various coating techniques. Although ceramics possess excellent mechanical properties under compressive load condition and superior thermal properties, machining of microscale features on ceramics remains challenging due to the extreme brittleness associated with ceramics. Due to the involvement of higher cutting force and tool wear issue, conventional machining process appears to be unsuitable for machining ceramics. On the other hand, non-contact and negligible process force associated with EDM process makes it one of the competitive processes for machining of ceramics. A series of experiments were carried out on AlN ceramics using “Assistive Electrode” micro-EDM process with a goal of machining blind micro-holes into the ceramics with the aid of on-machine fabricated copper tungsten tools. It was found that multi-layer coatings of silver and copper with copper tungsten electrode resulted in successful machining with high-aspect-ratio holes during powder mixed micro-EDM of AlN ceramics, while micro-holes with less than one aspect ratio are machined without powder addition to the dielectric. It was also observed that comparatively lower level of discharge energies, i.e., lower value of voltages and capacitances were favorable for successful machining of micro-holes in ceramics, even though it results in significantly higher machining time. Despite of relatively low discharge energy usage in micro-EDM, machined surfaces appear to be very rough. The machined surfaces indicate that melting and evaporation, as well as thermal spalling, are the dominating material removal mechanisms. The machined surfaces contained many thermal cracks and porosity on the surface. The elemental composition analysis confirms the presence of aluminum and nitrogen elements on the machined surface. Finally, by careful selection of machining conditions and assistive electrode, successful machining of micro-holes is possible on the non-conductive ceramic surfaces using the micro-EDM process.

Minimally invasive procedures, such as endoscopic third ventriculostomy (ETV), benefit from the increased dexterity and safety that surgical continuum robots can bring. However, due to their natural compliance, new compatible end-effectors, such as graspers or scissors, must be developed and their actuation must be considered when developing the robotic structures in which they are housed due to the inherent coupling that will be introduced. In this paper, we integrate a tendon-driven meso-scale grasper, with a closed configuration diameter of 1.69 mm, into a 2 degree-of-freedom (DoF) tendon-driven neurosurgical robot with an outer diameter of less than 2 mm. Furthermore, the kinematics of the grasper is validated and an analysis of the coupling between the grasper and the robotic joints is conducted in order to evaluate the design performance.

Titanium alloy Ti-6Al-4V is used extensively in aerospace engines because of its high strength-to-weight ratio and corrosion resistance. Machining of cooling holes in turbine blades for aerospace engines is one of the major challenges faced in aerospace industries. Ti-6Al-4V is known as a difficult to be machined material by conventional machining processes, and machining of micro-through-holes with diameter less than 100 microns is even more challenging. Therefore, the objective of this study is to investigate the feasibility of machining high aspect ratio micro-through holes in Ti-6Al-4V using micro electrical discharge machining (micro-EDM) with the silver (Ag) nanopowder mixed dielectric. The machining time, overcut, recast layer, crater size, aspect ratio and surface finish of the micro-holes were evaluated. In order to minimize the positional inaccuracy and spindle runout, the microelectrodes were fabricated in-situ using block micro-EDM process. In this study, as received electrode of 300 microns diameter tungsten wire was reduced to about 50 microns diameter rod by micro block EDM using a tungsten carbide block. The effect of powder concentration, gap voltage, capacitance and electrode rotational speed was studied. It is found that high quality micro-holes of about 50 microns diameter can be achieved successfully and repeatedly using powder mixed micro-EDM (PM-μEDM). The micro-holes generated by PM-μEDM provides comparatively smoother surface finish and minimal recast layer around the rim of the micro-holes. In addition, PM-μEDM process improves machining stability, thus allowing to minimize the hole size and quality, thus enhancing the aspect ratio of micro-holes.

Advanced ceramic materials possess superior mechanical characteristics in terms of hardness, wear resistance, fracture toughness and flexural strength. However, these materials experience machining limitations due to their hardness. Machining process of such materials requires high cutting forces and results in high tool wear. Electro- discharge machining (EDM) can be considered as an alternative machining process for advanced ceramics, since this technique is a non-contact machining process, it does not involve high cutting forces but experiences moderate tool wear. However, EDM requires materials to have certain level of electrical conductivity, therefore, non-conductive and semi-conductive ceramic materials experience challenges during machining process. Assisting Electrode Method was suggested as a solution for machining of non-conductive ceramics by EDM. In this method, conductive layer is applied on top of non-conductive ceramics and thus workpiece can be machined by EDM process using residual conductive layer. In this study, coating consisting of three layers, where silver nanoparticles were sandwiched between two layers of silver and copper on top, was used as assisting electrode to machine Aluminium Nitride (AlN) ceramics by silver nanoparticles mixed micro-EDM. Successful machining of AlN was demonstrated and blind micro hole with higher than three aspect ratio was achieved.