Traditional Electrical Discharge Machining (EDM) with internal flushing is often used for machining special-shaped cavities of conductive materials, which improves the machining efficiency but tends to produce sizeable residual material columns on the bottom surface of the workpiece cavity, affecting the machining quality. We propose an adaptive flushing technology for slotted electrode EDM based on gap discharge status detection to solve this problem. An adaptive flushing system was built, and the system’s feasibility was verified through experiments. EDM comparison experiments were designed to study the machining performance of the adaptive flushing slotted electrode EDM system. The experimental results show that the Material Removal Rate (MRR) is increased by about 1.1% and 8.0% when using adaptive flushing compared to continuous flushing and no flushing, respectively. The electrode wear rate (EWR) is reduced by about 38.8% and 4.4% compared to continuous flushing and no flushing, respectively. Therefore, adaptive flushing achieves the dual goal of ensuring processing efficiency and reducing electrode wear.
Due to the physiological shaking of the human hand during remote operation, there is a certain vibration phenomenon at the end of the robotic arm of the minimally invasive surgery robot, which affects the safety and stability of the surgery. A host-worker tremor suppression strategy based on Kalman filtering is proposed to realize the filtering of tremor signals by combining the conventional digital filtering algorithm and the Kalman filtering algorithm. Simulations and experiments were conducted for the tremor strategy. The results show that the physiological tremor signal is almost completely filtered, and the instability before tremor suppression is smoothly transitioned and corrected in the band after tremor suppression. The host-worker surgical robot's overall performance can be improved, the robotic arm operation can be more stable, and the tremor phenomenon at the robotic arm's end can be successfully suppressed.
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