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Robotic arm movement sequence
Citations
... Weitere Änderungen und Ansätze sind geplant. Von der Möglichkeit, für konventionelles chemisches Ätzen einfach auf einen kollaborativen Roboter zurückzugreifen, wurde bereits Gebrauch gemacht [5][6][7]. ...
... Further modifications and approaches are planned. A simple implementation of the possibility of using a collaborative robot in conventional chemical etching has already been carried out [5][6][7]. ...
Electrolytic polishing is a finishing method that removes material from a metal or alloy through an anodic dissolution process. Etching can often be performed in the same electrolyte by simply reducing the applied voltage to 10 percent of that required for polishing. Manufacturers of metallographic equipment present their products as automated. Only the electrolysis process itself is automated. After finishing, the sample must be immediately removed manually by the operator and cleaned. This process is critical with regard to the quality of the final sample surface and safety, because hazardous substances are often handled. The robot is placed next to an electrolytic equipment and handles all sample movements and the cleaning process in the ultrasonic bath in this experiment. The samples are made from ER308LSi austenitic stainless steel using 3D printing by Wire Arc Additive Manufacturing (WAAM). The final surface is achieved electrolytically on the commercial equipment. The aim of the experiment is to compare the microstructure, especially with regard to the possibility of distinguishing delta ferrite. The surface is characterized using various microscopic techniques. Robotization can be the key to improving surface quality and safety.
... To reduce the shortcomings and uncontrolled process variables, we are working on instrumenting metallographic processes. In this case, a comparison was made between the repeatability of etching samples using a conventional manual approach and using an apparatus with an embedded 5-axis robot that allows cleaning and drying of samples in addition to etching [5]. Despite its empirical nature, chemical etching is a suitable initial example to show possible improvements and development of new approaches in metallography. ...
Chemical etching is an integral part of metallographic sample preparation. Maintaining precise etch times can be difficult and therefore repeatability is limited. The aim of this work is to improve the repeatability of sample preparation using robotization. Prior to etching, metallographic samples of S355J2 (1.0577) structural steel were finely mechanically polished. For verification, 15 specimens were prepared using an in-house designed automated etching machine with a built-in 5-axis robotic arm and 15 specimens prepared manually by an expert metallographer. The samples were etched with Kourbatoff no. 4 reagent for 8 seconds in a beaker placed in an ultrasonic cleaner at 80 kHz. The samples were then cleaned in 7 beakers of cleaning fluid also placed in the ultrasonic cleaner. The robotic etching and cleaning process was optimized and the quality of the resulting surface is at least as good as that of the samples prepared by an expert metallographer. The surfaces were compared using a light optical microscope (LOM) and a confocal laser scanning microscope (CLSM). The repeatability of the preparation process is a key aspect for obtaining a large dataset of steel microphotographs for training a deep neural network that will be used in future research.
Color metallography of aluminum alloys can provide new structural knowledge or extend and refine structural knowledge compared to a black and white image. The basic principle of color metallography is to create a suitable film by etching. On samples coated with a suitable film, light interference is caused by the splitting of the incident light into components reflected at the air-layer interface and the layer-metal interface. The thickness of the film essentially determines at which colors the interference occurs. For films of suitable thickness, interference occurs in the blue, green and yellow regions. The film thickness depends on the chemical composition of the sample material, the chemical composition of the etchant and the etching time. If the etching conditions are kept constant (etchant type, etching time) and the chemical composition of the individual micro-areas changes significantly, it will be possible to distinguish the microareas by color contrast in the bright field. The results of color etching of aluminum alloys in different types of etchants will be presented. Using an automated apparatus, the same etching conditions will be maintained, including time and repeatability of movements in the etching, cleaning and drying process.
