https://sam.ensam.eu:443 The DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material. Mon, 13 Apr 2026 02:25:19 GMT 2026-04-13T02:25:19Z http://hdl.handle.net/10985/8215 An Analytical Model for Repositioning of 6 D.O.F Fixturing System BUTT, Sajid-Ullah; ANTOINE, Jean-François; MARTIN, Patrick Dimensional errors of the parts from a part family cause the initial misplacement of the workpiece on the fixture affecting the final product quality. Even if the part is positioned correctly, the external machining forces and clamping load cause the part to deviate from its position. This deviation depends on the external load and the fixture stiffness. In this article, a comprehensive analytical model of a 3-2-1 fixturing system is proposed, consisting of a kinematic and a mechanical part. The kinematic model relocates the initially misplaced workpiece in the machine reference through the axial advancements of six locators taking all the fixturing elements to be rigid. The repositioned part then shifts again from the corrected position due to the deformation of fixturing elements under clamping and machining forces. The mechanical model calculates this displacement of the part considering the locators and clamps to be elastic. The rigid cuboid baseplate, used to precisely re-locate the workpiece, is also considered elastic at the interface with the locators. Using small displacement hypothesis with zero friction at the contact points, Lagrangian formulation enables us to calculate the rigid body displacement of the workpiece, deformation of each locator, as well as the stiffness matrix and mechanical behavior of the fixturing system. This displacement of the workpiece is then finally compensated by the advancement of the six axial locators calculated through the kinematic model. Lien vers la version éditeur: http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=8749247&fulltextType=RA&fileId=S2257777712000164 Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/8215 2012-01-01T00:00:00Z BUTT, Sajid-Ullah ANTOINE, Jean-François MARTIN, Patrick Dimensional errors of the parts from a part family cause the initial misplacement of the workpiece on the fixture affecting the final product quality. Even if the part is positioned correctly, the external machining forces and clamping load cause the part to deviate from its position. This deviation depends on the external load and the fixture stiffness. In this article, a comprehensive analytical model of a 3-2-1 fixturing system is proposed, consisting of a kinematic and a mechanical part. The kinematic model relocates the initially misplaced workpiece in the machine reference through the axial advancements of six locators taking all the fixturing elements to be rigid. The repositioned part then shifts again from the corrected position due to the deformation of fixturing elements under clamping and machining forces. The mechanical model calculates this displacement of the part considering the locators and clamps to be elastic. The rigid cuboid baseplate, used to precisely re-locate the workpiece, is also considered elastic at the interface with the locators. Using small displacement hypothesis with zero friction at the contact points, Lagrangian formulation enables us to calculate the rigid body displacement of the workpiece, deformation of each locator, as well as the stiffness matrix and mechanical behavior of the fixturing system. This displacement of the workpiece is then finally compensated by the advancement of the six axial locators calculated through the kinematic model. http://hdl.handle.net/10985/9284 Management of product characteristics uncertainty based on Formal Logic and Characteristics Properties Model QURESHI, Ahmed Jawad; ANTOINE, Jean-François; EISENBART, Boris; BLESSING, Lucienne; DANTAN, Jean-Yves Uncertainty in product characteristics is ubiquitous in any engineering system at all the stages of product life-cycle. Considering uncertainty from different sources during the product design phase is critical to its reliable performance. This paper presents a framework integrating the uncertainty propagation through different product characteristics and its effect on product properties. The framework consists of three main parts: a descriptive model based on formal logic and characteristics properties model; a mathematical implementation through set theory and probabilistic approach; and an algorithm for design space evaluation and tolerancing. The application of framework is demonstrated through an industrial case study. Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/9284 2013-01-01T00:00:00Z QURESHI, Ahmed Jawad ANTOINE, Jean-François EISENBART, Boris BLESSING, Lucienne DANTAN, Jean-Yves Uncertainty in product characteristics is ubiquitous in any engineering system at all the stages of product life-cycle. Considering uncertainty from different sources during the product design phase is critical to its reliable performance. This paper presents a framework integrating the uncertainty propagation through different product characteristics and its effect on product properties. The framework consists of three main parts: a descriptive model based on formal logic and characteristics properties model; a mathematical implementation through set theory and probabilistic approach; and an algorithm for design space evaluation and tolerancing. The application of framework is demonstrated through an industrial case study. http://hdl.handle.net/10985/11327 A product functional modelling approach based on the energy flow by using characteristics-properties modelling BABAEIZADEH MALMIRY, Roozbeh; DANTAN, Jean-Yves; PAILHES, Jerome; ANTOINE, Jean-François The main objective in designing a product is to satisfy the required needs. So, the designer aims to design the product’s structure based on the required function of the product. Therefore, in the design process, the link between the functional requirement and the physical structure has to be assured. This paper proposes an approach to help the designer in transition from function to structure to assure this link. This approach uses energy flow modelling to model the system’s behaviour in the framework of characteristics-properties modelling (CPM). It is composed of a multi-level modelling approach with two concurrent, interlinked modelling domains: functional and structural. By zigzagging between these two domains in each level of the decomposition, a quantitative model of the product is determined using CPM. The result shows the effective modifiable parameters (or required structure) of the product to satisfy the required function. So, it can be used to design a new product as well as analysing and optimising an existing product. Fri, 01 Jan 2016 00:00:00 GMT http://hdl.handle.net/10985/11327 2016-01-01T00:00:00Z BABAEIZADEH MALMIRY, Roozbeh DANTAN, Jean-Yves PAILHES, Jerome ANTOINE, Jean-François The main objective in designing a product is to satisfy the required needs. So, the designer aims to design the product’s structure based on the required function of the product. Therefore, in the design process, the link between the functional requirement and the physical structure has to be assured. This paper proposes an approach to help the designer in transition from function to structure to assure this link. This approach uses energy flow modelling to model the system’s behaviour in the framework of characteristics-properties modelling (CPM). It is composed of a multi-level modelling approach with two concurrent, interlinked modelling domains: functional and structural. By zigzagging between these two domains in each level of the decomposition, a quantitative model of the product is determined using CPM. The result shows the effective modifiable parameters (or required structure) of the product to satisfy the required function. So, it can be used to design a new product as well as analysing and optimising an existing product. http://hdl.handle.net/10985/17135 Simplified stiffness model for spherical rough contacts BUTT, Sajid; ANTOINE, Jean-François; MARTIN, Patrick Obtaining a surface with negligible roughness is very expensive, time consuming and unnecessary. The influence of surface roughness on the contact stiffness is of great importance. The extra cost associated with unnecessary surface finish can be limited by eliminating the unnecessary machining operations beyond the required surface finish. In this article, a simplified solution is presented to calculate the stiffness of rough contact between the workpiece and spherical locator; also, the effect of surface roughness on the stiffness and deformation of rough spherical contact is studied for different applied loads to find an ‘economic roughness’ under machining forces. Thu, 01 Jan 2015 00:00:00 GMT http://hdl.handle.net/10985/17135 2015-01-01T00:00:00Z BUTT, Sajid ANTOINE, Jean-François MARTIN, Patrick Obtaining a surface with negligible roughness is very expensive, time consuming and unnecessary. The influence of surface roughness on the contact stiffness is of great importance. The extra cost associated with unnecessary surface finish can be limited by eliminating the unnecessary machining operations beyond the required surface finish. In this article, a simplified solution is presented to calculate the stiffness of rough contact between the workpiece and spherical locator; also, the effect of surface roughness on the stiffness and deformation of rough spherical contact is studied for different applied loads to find an ‘economic roughness’ under machining forces. http://hdl.handle.net/10985/17276 Cost engineering for variation management during the product and process development MIRDAMADI, Shirin; MOHAMMADI, Mehrdad; BABAEIZADEH MALMIRY, Roozbeh; ANTOINE, Jean-François; TAVAKKOLI, Reza; MARTIN, Patrick; SIADAT, Ali; DANTAN, Jean-Yves; ETIENNE, Alain Variation Management during the Product & Process Development can profoundly impact the quality, the cost of the product and the number of scraps in mass production... Designers want tight tolerances to ensure product performance; manufacturers prefer loose tolerances to reduce manufacturing and assembly cost. To analyse compromise solutions, the primary aim is to establish an objective function. This paper presents a model for the key indicators assessment to the relevance of variation management: cost, and investigates which model used in decision analysis is the most appropriate to prioritize and aggregate the predetermined performance measures. The applications of this model are demonstrated through an industrial case study where tolerance allocation, product development, problem is firstly addressed. Once optimized tolerances are attained, inspection planning, process development, problem is approached to ensure the optimized awaited quality level for the least cost. Fri, 01 Jan 2016 00:00:00 GMT http://hdl.handle.net/10985/17276 2016-01-01T00:00:00Z MIRDAMADI, Shirin MOHAMMADI, Mehrdad BABAEIZADEH MALMIRY, Roozbeh ANTOINE, Jean-François TAVAKKOLI, Reza MARTIN, Patrick SIADAT, Ali DANTAN, Jean-Yves ETIENNE, Alain Variation Management during the Product & Process Development can profoundly impact the quality, the cost of the product and the number of scraps in mass production... Designers want tight tolerances to ensure product performance; manufacturers prefer loose tolerances to reduce manufacturing and assembly cost. To analyse compromise solutions, the primary aim is to establish an objective function. This paper presents a model for the key indicators assessment to the relevance of variation management: cost, and investigates which model used in decision analysis is the most appropriate to prioritize and aggregate the predetermined performance measures. The applications of this model are demonstrated through an industrial case study where tolerance allocation, product development, problem is firstly addressed. Once optimized tolerances are attained, inspection planning, process development, problem is approached to ensure the optimized awaited quality level for the least cost. http://hdl.handle.net/10985/17177 Management of product design complexity due to epistemic uncertainty via energy flow modelling based on CPM MALMIRY, Roozbeh Babaeizadeh; PAILHES, Jerome; QURESHI, Ahmed Jawad; ANTOINE, Jean-François; DANTAN, Jean-Yves Integrated product design and development in today’s highly competitive and economically challenging world is a complex process depending upon client requirements. One of the main factors contributing to the complexity of process is uncertainty due to lack of system knowledge, known as epistemic uncertainty. This paper proposes a systematic approach to reduce epistemic uncertainty in design process in early stages of design. The approach is based on “CTOC” and “CPM” to decompose the system behaviour and determine the relationships between function and structure of a system. An application of the approach is demonstrated through an industrial case study. Fri, 01 Jan 2016 00:00:00 GMT http://hdl.handle.net/10985/17177 2016-01-01T00:00:00Z MALMIRY, Roozbeh Babaeizadeh PAILHES, Jerome QURESHI, Ahmed Jawad ANTOINE, Jean-François DANTAN, Jean-Yves Integrated product design and development in today’s highly competitive and economically challenging world is a complex process depending upon client requirements. One of the main factors contributing to the complexity of process is uncertainty due to lack of system knowledge, known as epistemic uncertainty. This paper proposes a systematic approach to reduce epistemic uncertainty in design process in early stages of design. The approach is based on “CTOC” and “CPM” to decompose the system behaviour and determine the relationships between function and structure of a system. An application of the approach is demonstrated through an industrial case study. http://hdl.handle.net/10985/20277 Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization KUMAR, Atal Anil; ABBA, Gabriel; ANTOINE, Jean-François This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization shown to illustrate the significant improvement Wed, 01 Jan 2020 00:00:00 GMT http://hdl.handle.net/10985/20277 2020-01-01T00:00:00Z KUMAR, Atal Anil ABBA, Gabriel ANTOINE, Jean-François This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization shown to illustrate the significant improvement http://hdl.handle.net/10985/20275 Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot KUMAR, Atal Anil; ABBA, Gabriel; ANTOINE, Jean-François This paper presents the control of an under-constrained 4 Cable-Driven Parallel Robot (CDPR) using input-output feedback linearization technique. The dynamic model of the CDPR is first formulated by taking into account the Euler angle rates. Following this the input-output feedback linearization method is implemented to decouple the output and input. A linear feedback controller is then designed using pole placement method to control the CDPR. The control law is then verified by simulation using MATLAB software. Simple trajectories are then tested with and without the presence of noise to analyze the behavior of the control law. Tue, 01 Jan 2019 00:00:00 GMT http://hdl.handle.net/10985/20275 2019-01-01T00:00:00Z KUMAR, Atal Anil ABBA, Gabriel ANTOINE, Jean-François This paper presents the control of an under-constrained 4 Cable-Driven Parallel Robot (CDPR) using input-output feedback linearization technique. The dynamic model of the CDPR is first formulated by taking into account the Euler angle rates. Following this the input-output feedback linearization method is implemented to decouple the output and input. A linear feedback controller is then designed using pole placement method to control the CDPR. The control law is then verified by simulation using MATLAB software. Simple trajectories are then tested with and without the presence of noise to analyze the behavior of the control law. http://hdl.handle.net/10985/11995 Design Elements for high speed SRM ABBA, Gabriel; ANTOINE, Jean-François; SAUVEY, Christophe; VISA, Codrut This paper deals with the study of high speed switched reluctance motors and their pre-dimensioning. The predimensioning is tackled towards the inductance profile and the torque generation. Then, the power density is assessed in terms of three defined fundamental parameters, each depending on electrical, mechanical and geometrical design of the motor. The mechanical limitations studied are the centrifugal stresses and the vibratory behavior of the motor. A shape optimization of the rotor teeth leans then on a coupled magnetic-mechanic coupled problem, solved with finite elements simulations. After that,mechanic, magnetic and copper losses are given in terms of the rotor external volume so as to assess the weight of each heat source in the global motor heating. Once all the losses are linked to temperature, a criterion to improve the ability to develop a high speed motor is finally proposed. Thu, 01 Jan 2004 00:00:00 GMT http://hdl.handle.net/10985/11995 2004-01-01T00:00:00Z ABBA, Gabriel ANTOINE, Jean-François SAUVEY, Christophe VISA, Codrut This paper deals with the study of high speed switched reluctance motors and their pre-dimensioning. The predimensioning is tackled towards the inductance profile and the torque generation. Then, the power density is assessed in terms of three defined fundamental parameters, each depending on electrical, mechanical and geometrical design of the motor. The mechanical limitations studied are the centrifugal stresses and the vibratory behavior of the motor. A shape optimization of the rotor teeth leans then on a coupled magnetic-mechanic coupled problem, solved with finite elements simulations. After that,mechanic, magnetic and copper losses are given in terms of the rotor external volume so as to assess the weight of each heat source in the global motor heating. Once all the losses are linked to temperature, a criterion to improve the ability to develop a high speed motor is finally proposed. http://hdl.handle.net/10985/8214 A Kinematic Approach for 6-DOF Part Positioning BUTT, Sajid-Ullah; ANTOINE, Jean-François; MARTIN, Patrick This article proposes a fixturing system consists of a cuboid basep-late located through a 3-2-1 configuration of locators. The locators are mounted on machine table/pallet and posses one axial DOF. The workpiece is mounted on the baseplate and all the elements are assumed to be rigid with zero friction. The positioning error of the workpiece is calculated and the compensation is performed by the axial movement of the locators. The proposed analytical mod- el is verified by the simulation performed in the CAD model. Lien vers la version éditeur: http://link.springer.com/chapter/10.1007%2F978-3-642-30817-8_15 Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/8214 2013-01-01T00:00:00Z BUTT, Sajid-Ullah ANTOINE, Jean-François MARTIN, Patrick This article proposes a fixturing system consists of a cuboid basep-late located through a 3-2-1 configuration of locators. The locators are mounted on machine table/pallet and posses one axial DOF. The workpiece is mounted on the baseplate and all the elements are assumed to be rigid with zero friction. The positioning error of the workpiece is calculated and the compensation is performed by the axial movement of the locators. The proposed analytical mod- el is verified by the simulation performed in the CAD model.