The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is ...The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.展开更多
Dust generated from bolt hole drilling in roof bolting operation could have high quartz content. As a dust control measure, vacuum drilling is employed on most of the roof bolters in US underground mines. However, fin...Dust generated from bolt hole drilling in roof bolting operation could have high quartz content. As a dust control measure, vacuum drilling is employed on most of the roof bolters in US underground mines. However, fine rock partic- ulates from drilling could escape from the dust collection system and become airborne under some circumstances causing the roof bolter operators expose to quartz-rich respirable dust. A previous research shows that drilling can be controlled through properly selected penetration and rotational rates to reduce the specific energy of drilling. Less specific energy means less energy is wasted on generating noise, heat and over-breakage of rock. It implies that proper control of drilling has a great potential to generate significantly less fine rock dust during drilling. The drilling experiments have been conducted to study the effect of controlling drilling on reducing respirable dust. The preliminary results show that the size distributions of respirable dust were different when controlling drilling in different bite depths. This paper presents the findings from laboratory experimental studies.展开更多
文摘The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.
文摘Dust generated from bolt hole drilling in roof bolting operation could have high quartz content. As a dust control measure, vacuum drilling is employed on most of the roof bolters in US underground mines. However, fine rock partic- ulates from drilling could escape from the dust collection system and become airborne under some circumstances causing the roof bolter operators expose to quartz-rich respirable dust. A previous research shows that drilling can be controlled through properly selected penetration and rotational rates to reduce the specific energy of drilling. Less specific energy means less energy is wasted on generating noise, heat and over-breakage of rock. It implies that proper control of drilling has a great potential to generate significantly less fine rock dust during drilling. The drilling experiments have been conducted to study the effect of controlling drilling on reducing respirable dust. The preliminary results show that the size distributions of respirable dust were different when controlling drilling in different bite depths. This paper presents the findings from laboratory experimental studies.
