Machine Tools for High Performance Machining

L.N. López de Lacalle • A. Lamikiz

Editors

Machine Tools

for High Performance

Machining

13

L.N. López de Lacalle, PhD

A. Lamikiz, PhD

Departamento de Ingeniería Mecánica

Escuela Técnica Superior de Ingenieros

Industriales

Universidad del País Vasco

Calle Alameda de Urquijo s/n

48013 Bilbao

Spain

ISBN 978-1-84800-379-8 e-ISBN 978-1-84800-380-4

DOI 10.1007/978-1-84800-380-4

British Library Cataloguing in Publication Data

Machine tools for high performance machining

1. Machine-tools

I. Lopez de Lacalle, L. N. II. Lamikiz, A.

621.9'02

ISBN-13: 9781848003798

Library of Congress Control Number: 2008932947

© 2009 Springer-Verlag London Limited

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vii

Preface

The machine tool has been, is and no doubt will be, a key factor in industrial and

equipment evolution, and as such, improving man’s quality of life. Both its evolu￾tion and perfectioning have come about due to the sectors where used and have

likewise improved their products due to machinery improvements.

Machines have changed greatly in the last 30 years, particularly with the incor￾poration of numerical control. They have gone from being mechanical machines to

real mechatronic systems, where control, drives and sensorisation are key ele￾ments. This trend is unstoppable since, thanks to the combination of improvements

in materials and mechanical design with control and algorithms executed by the

same, better precision, greater speed and worker-friendly inter-relations have been

achieved.

However, in the last 15 years an even greater change has occurred, traditional

machines, i.e., lathes, milling machines, grinders, etc., have evolved into multi￾process/multitask machines, some of which are capable of milling, drilling, turn￾ing, boring, hobbing, measuring and even tempering with laser in the same ma￾chine. Every year new concepts appear in this line from the classic machining

centre to the turning centre, multitask machines, lathe-milling machines, turning￾grinding machines, etc. In some cases one hears about the “factory in a machine”,

which means all operations are performed in the same machine. Designers have

done away with many machinery stereotypes, creating designs to solve the user

problems. Perhaps we could say “milling machines” are no longer manufactured

but rather “machines which mill”, or lathes are no longer manufactured but “ma￾chines with turning capabilities”. However, we may be exaggerating since the

production sector tradition and custom tends to see them as classical machine

types, depending on the predominance of their functions or machine architectures,

etc. The tradition is the tradition and metal production is a “conservative” sector.

The wide variety of machinery and options available has complicated the up￾date of classical sources, like books. A single author is unlikely to know all the

aspects, technologies or even the production conditions of each sector to write

a single book. Thus, the aim of this work has been to seek the contribution of

viii Preface

authors specialised in different technological fields and industrial sectors. Each

masters one of the technologies comprising machine tools, from control bases to

structure, spindles and drives, etc. Furthermore, the authors of each chapter have

not only had a fluid relation in the past but continue to do so today, thus enabling

text coherence and a common view.

In Europe, the USA, and Japan machine tooling is a sector which has under￾gone a great technological evolution in recent years. In this context, important

research and development projects are underway, e.g., the Integrated Project

NEXT (Next generation production systems), currently in progression in Europe,

or the CENIT “eee-Machine” project in Spain. Asian countries like China and

Korea have joined these poles and in recent years India and Turkey too. Competi￾tion is high, not only at a technological level but also a monetary level. Two key

aspects are: a) cost reduction; this might result from greater production, and b) the

need to adapt machines to each customer’s needs. Both aspects are contradictory,

and are settled using modular design ideas, greater bindings with supplier chains,

and the offer of multiple accessories on the same basic machine models.

Nevertheless, we must not lose sight of the importance of environmental impact

and machines life cycle analysis. Consuming little electricity, reducing coolant use

and eliminating electromagnetic radiations are important requirements today. The

machine must be “eco-efficient”, i.e., with minimum impact and maximum pro￾ductivity and/or precision.

Machinery precision has also grown. In a hundred years we have gone from

tenths of millimetres to below hundredths, and in some cases machines border the

micron frontier.

This text is the final result of that work, which attempts to update knowledge

on machine tool machine design, construction and use. It is based on the premise

that the reader is already familiar with machinery in general and as such familiar

with the basic books. Furthermore, it is directed at the reader seeking a source

containing the advances of recent years, on display at the main sector fairs, such as

the Hanover EMO, Chicago IMTS and JIMTOF. Researchers commencing their

work on the machine tool and production sector may find this book useful.

Finally, the authors would like to point out they have gathered information

from classical sources and directly from machines existing on the market. The

machine tool is a living element with an important industry. It is impossible to

generalise without mentioning the companies which invent, improve and re-design

these machines. We should also like to express our gratitude to the companies

willing to lend their images and ideas. Indeed one of the virtues of this book is its

reference to real technology and not solely academic technology.

Bilbao, Spain, April 2008 L. N. López de Lacalle

A. Lamikiz

ix

Acknowledgements

Thanks are given to all the companies cited below for the pictures and information.

List of companies with pictures included in this book, using the commercial names

in alphabetical order:

ABB

Agie

Airbus

Air Products

Alzmetall

American Axle and Manufacturing

Automation Tooling Systems

Boehringer (MAG Boehringer)

Busak Shamban

Chiron

CMZ Machinery

CMW (Hexapode)

Danobat

Delphi

Dixi

DMG (Deckel Maho Gildemeister)

Doimak

Droop & Rein

DS Technologie (Dörries Schar￾mann)

Ecoroll

Edel (Die Edel Maschine)

Emag

Etxe-Tar

Fagor Automation

Fanuc

Fatronik-Tecnalia

Fidia

Forest Liné

Fraunhofer IPT

GF AgieCharmilles

GMN

Gnutti

Goratu

Haas Automation

Handtmann

Heidenhain

Heller

Henri Liné

Hermle

Hiwin

Hyprostatik

Ibag

Ibarmia

INA-FAG

Index Werke

ISW-Stuttgart

IWF-Zürich

Jobs

Kaufmann

Kern

KMT Lidköping

x Acknowledgements

Kondia

Kugler

Lagun

Laip

Lealde

M.A. Ford

Magna Powertrain

Makino

Maritool

Mazak

Micromega

Mikron

Mori Seiki

MTorres

NCG, NC Gesellschaft

Nemak

Neos Robotics

Nicolas Correa

Nomoco

Ona Electroerosión

Overbeck Danobat

Precitech

Pinacho

Pietro Carnaghi

Redex Andantex

Röders

Parallel Robotic Systems

SAE International

Sankyo Seiki

Schaudt (Studer Schaudt)

Schneeberger

Shuton

Siemens

Sisamex

SKC

SLF

Spring Technologies

Sumitomo

Starragheckert

System 3R

Tekniker-IK4

THK

Toyoda

Tschudin

Ultra Tech Machinery

Weisser

WFL Millturn Technologies

Zayer

xi

Content

Contributors..................................................................................................... xix

1 Machine Tools for Removal Processes: A General View..................... 1

L. Norberto López de Lacalle and A. Lamikiz

1.1 Basic Definitions and History........................................................ 1

1.1.1 Historical Remarks........................................................... 2

1.2 The Functions and Requirements of a Machine Tool.................... 8

1.2.1 User and Technological Requirements ............................ 9

1.3 The Basic Mechanism ................................................................... 13

1.4 The Machine Structure .................................................................. 16

1.4.1 Machine Foundations....................................................... 18

1.4.2 Structural Components Materials..................................... 18

1.4.3 Structural Analysis........................................................... 19

1.4.4 Modularity........................................................................ 22

1.5 Guideways..................................................................................... 23

1.5.1 Guides with Limit Lubrication......................................... 25

1.5.2 Rolling Guides ................................................................. 25

1.5.3 Hydrostatic Guides........................................................... 26

1.6 The Definition of the Main Motion ............................................... 27

1.7 The Definition of the Drive Trains ................................................ 29

1.8 The CNC Implementation ............................................................. 30

1.9 Machine Verification..................................................................... 33

1.10 Typical Machines for Several Applications and Sectors ............... 34

1.10.1 A Machine for Big Structural Turbine Parts .................... 34

1.10.2 A Horizontal Milling Centre

for Automotive Components............................................ 35

1.10.3 A Milling Centre for Moulds ........................................... 37

1.10.4 A Milling Machine for Big Dies and Moulds .................. 37

1.10.5 Conventional Machines for Auxiliary Operations ........... 38

1.10.6 CNC Milling Machines for General Production .............. 40

xii Content

1.10.7 A Heavy-duty Lathe......................................................... 40

1.10.8 A Mitre Band Saw............................................................ 41

1.10.9 Transfer Machines............................................................ 42

1.10.10 A Milling and Boring Centre ........................................... 43

1.11 The Book Organisation.................................................................. 43

References................................................................................................. 44

2 New Concepts for Structural Components........................................... 47

J. Zulaika and F. J. Campa

2.1 Introduction and Definitions.......................................................... 47

2.2 Optimised Machine Structures ...................................................... 49

2.2.1 A Comparison Among Different

Machine Configurations................................................... 50

2.2.2 Structural Components in Machine Structures................. 53

2.2.3 Robust Rams and Columns .............................................. 54

2.3 Structural Optimisation in Machines............................................. 56

2.3.1 Mechanical Requirements for Eco-efficient Machines .... 56

2.3.2 FEM Modelling................................................................ 58

2.3.3 Topological Optimisation ................................................ 60

2.4 Structural Materials ....................................................................... 61

2.4.1 Involved Parameters......................................................... 61

2.4.2 Conventional Materials for Structural Components......... 62

2.4.3 Innovative Materials for Structural Components ............. 63

2.4.4 Costs of Design Materials and Structures ........................ 65

2.4.5 The Influence of Innovative Materials on Productivity ... 65

2.5 Active Damping Devices............................................................... 66

2.5.1 The Implementation of ADDs to Machine Structures...... 67

2.6 The Influence of New Structural Concepts on Productivity.......... 68

2.6.1 The Influence of New Design Concepts

for Structural Components ............................................... 68

2.6.2 The Influence of ADDs on Productivity .......................... 71

2.7 Future Trends in Structural Components for Machines................. 72

References................................................................................................. 72

3 Machine Tool Spindles ........................................................................... 75

G. Quintana, J. de Ciurana and F. J. Campa

3.1 Introduction ................................................................................... 75

3.2 Types of Spindles .......................................................................... 78

3.2.1 Belt-driven Spindles......................................................... 78

3.2.2 Gear-driven Spindles........................................................ 79

3.2.3 Direct Drive Spindles....................................................... 79

3.2.4 Integrated (Built-in) Drive Spindles................................. 80

3.3 Spindle Configurations.................................................................. 80

3.3.1 Common Configurations:

Vertical and Horizontal Spindles ..................................... 81

Content xiii

3.3.2 Machines with Rotary Headstocks................................... 81

3.3.3 A Main Spindle with an Auxiliary Spindle...................... 82

3.3.4 Twin Spindles and Multi-spindles ................................... 83

3.3.5 Automatic Head Exchange............................................... 83

3.4 Basic Elements of the Spindle ....................................................... 84

3.4.1 Motors.............................................................................. 85

3.4.2 Bearings ........................................................................... 87

3.4.3 The Toolholder................................................................. 95

3.4.4 The Drawbar .................................................................... 102

3.4.5 The Shaft.......................................................................... 103

3.4.6 The Sensors...................................................................... 103

3.4.7 The Housing..................................................................... 104

3.5 Spindle Properties and Performance.............................................. 105

3.5.1 Spindle Power and Torque

versus Spindle Speed Curves ........................................... 105

3.5.2 The Stiffness .................................................................... 106

3.5.3 Dynamic Behaviour and Vibrations................................. 108

3.5.4 The Thermal Behaviour ................................................... 115

3.5.5 Spindles in Use: Other Problems ..................................... 119

3.6 Spindle Selection........................................................................... 120

3.6.1 Conventional Machining or HSM.................................... 121

3.6.2 Tool Selection .................................................................. 122

3.6.3 The Workpiece Material .................................................. 123

3.6.4 Power and Spindle Speed Requirements.......................... 123

3.7 Brief Conclusions .......................................................................... 125

References................................................................................................. 126

4 New Developments in Drives and Tables.............................................. 129

A. Olarra, I. Ruiz de Argandoña and L. Uriarte

4.1 Introduction ................................................................................... 129

4.1.1 Precision and Dynamics................................................... 130

4.2 Linear Drives by Ball Screws........................................................ 132

4.2.1 Dimensioning................................................................... 132

4.2.2 The Rotary Screw............................................................. 138

4.2.3 Other Configurations........................................................ 138

4.3 Linear Drives by Rack and Pinion................................................. 139

4.3.1 The Elimination of the Gap.............................................. 139

4.3.2 Dimensioning................................................................... 141

4.3.3 Dynamic Models of the Drives ........................................ 142

4.4 Linear Drives by Linear Motors .................................................... 142

4.4.1 Mounting.......................................................................... 144

4.4.2 Configurations.................................................................. 144

4.5 Rotary Drives ................................................................................ 145

4.5.1 Mechanical Transmissions............................................... 145

4.5.2 Direct Rotary Drives ........................................................ 146

xiv Content

4.6 Guidance Systems ......................................................................... 147

4.6.1 Friction Guides................................................................. 147

4.6.2 Rolling Guides ................................................................. 150

4.6.3 Hydrostatic Guides........................................................... 152

4.6.4 Aerostatic Guides............................................................. 156

4.7 The Present and the Future ............................................................ 157

4.7.1 Rolling Guides with Integrated Functions ....................... 157

4.7.2 The Hydrostatic Shoe on Guide Rails.............................. 157

4.7.3 Guiding and Actuation through Magnetic Levitation ...... 158

References................................................................................................. 158

5 Advanced Controls for New Machining Processes .............................. 159

J. Ramón Alique and R. Haber

5.1 Introduction and History................................................................ 159

5.1.1 Computer Numerical Control

and Direct Numerical Control.......................................... 160

5.1.2 Networked Control and Supervision................................ 163

5.2 New Machining Processes............................................................. 164

5.2.1 High Speed Machining..................................................... 165

5.2.2 Micromechanical Machining ........................................... 166

5.2.3 An Introduction to Nanomachining Processes ................. 167

5.3 Today’s CNCs: Machine Level Control ........................................ 168

5.3.1 The Interpolation Process................................................. 169

5.3.2 The Position Control Servomechanism............................ 174

5.4 Advanced CNCs: Multi-level Hierarchical Control ...................... 179

5.4.1 The Control of the Machining Process............................. 181

5.4.2 The Supervisory Control of the Machining Process:

Merit Variables ................................................................ 183

5.5 The Sensory System for Machining Processes .............................. 185

5.5.1 Correct Monitoring Conditions........................................ 188

5.5.2 Machining Characteristics and their Measurement .......... 189

5.5.3 Two Case Studies............................................................. 190

5.6 Open-Architecture CNC Systems.................................................. 194

5.6.1 Networked Control and Supervision................................ 195

5.7 Programming Support Systems: Manual Programming ................ 202

5.7.1 Computer Assisted Programming .................................... 207

5.7.2 Graphical Simulation ....................................................... 209

5.8 Current CNC Architectures ........................................................... 210

5.8.1 Systems Based on Multi-microprocessor Architecture .... 211

5.8.2 The PC Front-end............................................................. 211

5.8.3 The Motion Control Card with a PC ................................ 212

5.8.4 The Software-based Solution ........................................... 212

5.8.5 Fully Digital Architectures:

Towards the Intelligent Machine Tool............................. 214

References................................................................................................. 216

Content xv

6 Machine Tool Performance and Precision............................................ 219

A. Lamikiz, L. N. Lopez de Lacalle and A. Celaya

6.1 Introduction and Definitions.......................................................... 220

6.1.1 An Introduction to Precision Machining.......................... 220

6.1.2 Basic Definitions:

Accuracy, Repeatability and Resolution .......................... 223

6.1.3 Historical Remarks and the State of the Art..................... 224

6.2 Basic Design Principles and an Error Budget................................ 225

6.2.1 Sources of Errors in Machine Tools................................. 226

6.2.2 Error Budget Estimation .................................................. 227

6.2.3 Basic Principles for Precision Machine Design ............... 231

6.2.4 Error Propagation............................................................. 237

6.2.5 Thermal Errors................................................................. 240

6.2.6 CNC Interpolation Errors................................................. 244

6.3 Errors Originated by the Machining Process................................. 245

6.3.1 Errors Originated in the CNC Program Generation ......... 245

6.3.2 Errors Originated by the Tool Wear................................. 247

6.3.3 Tool Deflection Error....................................................... 248

6.4 Verification Procedures ................................................................. 251

6.4.1 Standard Procedures for Machine Tool Validation.......... 252

6.4.2 Test Parts.......................................................................... 257

6.5 A Brief Conclusion........................................................................ 258

References................................................................................................. 259

7 New Developments in Lathes and Turning Centres ............................ 261

R. Lizarralde, A. Azkarate and O. Zelaieta

7.1 Introduction ................................................................................... 261

7.2 Machine Configuration.................................................................. 262

7.2.1 High Production Lathes ................................................... 262

7.2.2 Turning Centres: Multi-tasking Machines ....................... 265

7.3 The Latest Technologies Applied to Lathes

and Turning Centres ...................................................................... 270

7.3.1 General Configuration Technologies ............................... 270

7.3.2 Complementary Technologies to Improve

Machine Performance ...................................................... 271

7.4 Special Machining Processes Applied

in Multi-tasking Machines............................................................. 272

7.4.1 The Laser Application...................................................... 272

7.4.2 Roller Burnishing and Deep Rolling................................ 273

7.4.3 Ultrasonic Assisted Turning............................................. 275

7.4.4 Cryogenic Gas Assisted Turning ..................................... 276

7.4.5 High-pressure Coolant Assisted Machining..................... 277

References................................................................................................. 278

xvi Content

8 High Performance Grinding Machines................................................. 279

R. Lizarralde, J. A. Marañón, A. Mendikute and H. Urreta

8.1 Introduction ................................................................................... 279

8.2 The Machine Configuration........................................................... 280

8.2.1 The Machine Architecture ............................................... 281

8.2.2 Materials Applied in Structural Parts............................... 286

8.2.3 Main Components............................................................ 288

8.2.4 Wheel Dressing Systems.................................................. 291

8.2.5 Process Lubrication and Cooling ..................................... 296

8.2.6 Integrated Measuring Devices.......................................... 297

8.3 Special Grinding Processes ........................................................... 299

8.3.1 Peel Grinding–Quick Point .............................................. 299

8.3.2 Speed Stroke Grinding..................................................... 300

8.3.3 Creep Feed Grinding........................................................ 301

8.3.4 High Efficiency Deep Grinding ....................................... 302

8.4 Machine and Process Monitoring and Control .............................. 302

8.4.1 Monitored Parameters and Applied Sensors .................... 303

8.4.2 Control Strategies............................................................. 304

References................................................................................................. 305

9 Wire Electrical Discharge Machines..................................................... 307

J. A. Sánchez and N. Ortega

9.1 Introduction ................................................................................... 307

9.2 The WEDM Process ...................................................................... 310

9.2.1 Accuracy and Speed......................................................... 312

9.3 WEDM Machines.......................................................................... 315

9.3.1 Wire Transport and Wire Thread Devices ....................... 318

9.3.2 Machine Automation........................................................ 319

9.3.3 Workpiece Fixturing Systems.......................................... 321

9.3.4 Filtering Systems ............................................................. 322

9.4 Wires for WEDM .......................................................................... 323

9.5 The Wire EDM of Advanced Materials......................................... 326

9.5.1 Aeronautical Alloys ......................................................... 326

9.5.2 Tungsten Carbide ............................................................. 327

9.5.3 Advanced Ceramics and PCD.......................................... 328

9.6 Thin-wire EDM ............................................................................. 330

References................................................................................................. 332

10 Parallel Kinematics for Machine Tools................................................. 335

O. Altuzarra, A. Hernández, Y. San Martín and J. Larranaga

10.1 Introduction ................................................................................... 335

10.2 Main Characteristics of the Parallel Kinematic Machines............. 337

10.3 A Classification of the Parallel Kinematic Machines.................... 338

10.4 A Design Methodology for Parallel Kinematic Machines............. 339

10.4.1 The Motion Pattern .......................................................... 340

Content xvii

10.4.2 The Type Synthesis.......................................................... 341

10.4.3 The Position Analysis ...................................................... 345

10.4.4 Velocity Analysis, Singularities and Dynamics............... 347

10.4.5 The Optimisation ............................................................. 349

10.5 The Kinematic Calibration of PKMs............................................. 349

10.5.1 A Mathematical Approach ............................................... 351

10.5.2 Measuring on External Methods ...................................... 353

10.5.3 Self-calibration Strategies ................................................ 358

10.6 The Control of Parallel Kinematic Machines ................................ 358

10.6.1 Models Specific to Parallel Kinematics Machines........... 360

10.6.2 The Dynamic Controller .................................................. 361

10.6.3 The Model-based Predictive Controller ........................... 363

10.7 Conclusions and Future Trends ..................................................... 365

References................................................................................................. 366

11 Micromilling Machines........................................................................... 369

L. Uriarte, J. Eguia and F. Egaña

11.1 Introduction and Definitions.......................................................... 369

11.2 The Micromilling Process ............................................................. 371

11.2.1 Micromilling Tools .......................................................... 372

11.2.2 Applications ..................................................................... 374

11.3 Miniaturised Machine Tools.......................................................... 376

11.4 Machine Drives ............................................................................. 377

11.4.1 Conventional Ball Screw Configuration .......................... 377

11.4.2 Friction Drives ................................................................. 379

11.4.3 The Linear Motor............................................................. 380

11.4.4 New Tendencies: Hydrostatic Screws.............................. 382

11.5 Guideways..................................................................................... 383

11.5.1 Special Rolling Guides Configurations............................ 383

11.5.2 Aerostatic and Hydrostatic Guides................................... 384

11.5.3 New Tendencies:

Magnetic and Flexure Guidance Systems ........................ 386

11.6 The High Speed Spindle and Collet............................................... 389

11.6.1 Alternatives: Hydrostatic and Magnetic Spindles............ 390

11.7 Measuring Systems........................................................................ 392

11.8 Examples ....................................................................................... 393

11.8.1 The Kern® Pyramid Nano ................................................ 393

11.8.2 The Kugler® Microgantry nano 3/5X............................... 395

References................................................................................................. 396

12 Machines for the Aeronautical Industry............................................... 399

J. Fernández and M. Arizmendi

12.1 Aeronautical Business ................................................................... 399

12.2 Aerospace Components ................................................................. 400

12.2.1 Aerospace Structures........................................................ 401

xviii Content

12.2.2 Aerospace Engines........................................................... 402

12.2.3 Accessories ...................................................................... 403

12.3 Aerospace Materials ...................................................................... 403

12.4 Costs, Weight and Precision in Machine Tools

for Aerospace Machining .............................................................. 405

12.4.1 The Drive to Reduce Aircraft Costs................................. 406

12.4.2 The Drive to Reduce Aircraft Weight.............................. 407

12.4.3 The Drive for Aircraft Component Precision................... 407

12.5 Machine Tools for Aeronautical Components............................... 408

12.5.1 Machine Tools for Machining Aeronautical Structures ... 409

12.5.2 Machine Tools for Machining Engine Components ........ 413

12.5.3 Machine Tools for Machining Accessories

and Structure Fittings....................................................... 417

References................................................................................................. 419

13 Machine Tools for the Automotive Industry ........................................ 421

Ciro A. Rodríguez and Horacio Ahuett

13.1 World Trends in Automotive Production ...................................... 421

13.1.1 The Economic Impact of the Automotive Industry.......... 421

13.1.2 Machining Processes in Automotive Production ............. 422

13.2 Manufacturing System Architecture:

High Volume Production Versus Flexibility ................................. 423

13.2.1 Dedicated Machines......................................................... 424

13.2.2 Flexible Cells ................................................................... 427

13.2.3 Hybrid Systems................................................................ 429

13.3 Technology Trends........................................................................ 433

References................................................................................................. 435

Index ................................................................................................................. 437

xix

Contributors

Dr. Norberto López de Lacalle

(Chaps. 1 and 6)

Department

of Mechanical Engineering,

University of the Basque Country,

Escuela Técnica Superior

de Ingeniería,

c/Alameda de Urquijo s/n,

48013, Bilbao, Spain

[email protected]

www.ehu.es/manufacturing

Dr. Aitzol Lamikiz

(Chaps. 1 and 6)

Department

of Mechanical Engineering,

University of the Basque Country,

Escuela Técnica Superior

de Ingeniería,

c/Alameda de Urquijo s/n,

48013, Bilbao, Spain

[email protected]

www.ehu.es/manufacturing

Eng. Juanjo Zulaika

(Chap. 2)

Foundation Fatronik-Tecnalia,

Paseo Mikeletegi 7,

20009, Donostia-San Sebastián, Spain

[email protected]

Dr. Francisco Javier Campa

(Chaps. 2 and 3)

Department

of Mechanical Engineering,

University of the Basque Country,

Escuela Técnica Superior

de Ingeniería,

c/Alameda de Urquijo s/n,

48013, Bilbao, Spain

[email protected]

www.ehu.es/manufacturing

Dr. Joaquim de Ciurana

(Chap. 3)

Department of Mechanical

Engineering and Civil Construction,

University of Girona,

Escola Politècnica Superior,

Av/ Lluís Santaló s/n,

17003, Girona, Spain

[email protected]

Eng. Guillem Quintana

(Chap. 3)

Department of Mechanical

Engineering and Civil Construction,

University of Girona,

Escola Politècnica Superior,

Av/ Lluís Santaló s/n,

17003, Girona, Spain

[email protected]