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The purpose of this paper is to present a system for accurately measuring drilling force in the printed circuit board micro drilling process and to characterize the drilling force to provide a better understanding of the micro drilling process.

The drilling force measurement system was established first. Then the drilling force in printed circuit board micro drilling process was characterized experimentally. In particular, the drilling forces in drilling halogen‐free and lead‐free assembly compatible printed circuit boards and the drilling force characteristics in ultra small hole drilling were investigated.

A drilling force measurement system, with the key component of a KISTLER 9256C2 dynamometer, can accurately measure the drilling forces in the printed circuit board micro drilling process. The micro drilling process can be characterized by drilling force. Meanwhile, drilling force is very sensitive to drill breakage and drilling force can be utilized to detect drill breakage in the micro drilling process.

The paper presents a system for accurately measuring the drilling force. Drilling force provides fundamental information for the optimal design of micro drill bits. Drilling force can also characterize the micro drilling process, especially the ultra small hole micro drilling process.

The purpose of this paper is to study and obtain the influence of resin and filler properties of printed circuit board (PCB) on the drilling force during micro drilling.

Experiments were carried out to study the influence of PCB on micro-hole drilling force under high spindle speed. A drilling force measurement system was applied, and then, the influence of resin and filler properties of PCBs on the force was analyzed. The proportion of resin and filler in the PCB was defined as four levels, and the influence of PCBs based on the drilling force measurement was summarized.

The drilling force decreased with the decrease in the feed rate, and lower filler (16-30 per cent) and average resin (31-50 per cent) would have a positive impact on the drilling force. At the same time, the size of uniform and fine fillers would help to reduce the drilling force.

The drilling force measurement system was applied, and the influence of PCBs on force was analyzed, which could provide a reference value on the optimization of the drilling force during micro drilling.

As the application range of present day industrial robots is expanded beyond pick‐and‐place operations, spray painting and spot welding, there is an increasing need for the control of contact forces between the manipulator end point and environment. One important force control task is robotic drilling in hazardous environments. This paper addresses the analysis and characterisation of forcecontrolled robotic drilling, generation of a control strategy in the light of specifications obtained from the characterisation of this task, and the completion of a drilling operation with robot manipulator under contact force control. The experimental results demonstrate that a robot manipulator can perform drilling if enough contact thrust‐force is provided between a workpiece and drill, and is controlled properly. It follows that the analysis and characterisation of a task, especially investigation of the dynamic interactions between the tool carried by a manipulator and a workpiece, strategy generation, and controller design proceed simultaneously in order to develop a force control system for a specific task.

The purpose of this paper is to investigate the cutting mechanism of drilling printed circuit board (PCB) and to optimize the drilling parameters for decreasing burr size and thrust force.

An experimental study was carried out to investigate the effect of drilling parameters on thrust force and burr formation. The drilling process of PCB was divided by the variation of drilling force signals. Analysis of variance (ANVONA) was carried out for burr size and thrust force. Desirability function method was used in multiple response optimization, to find the best drilling parameters.

Enter burr and exit burr have different morphologies and types. The generation of enter burr is mainly caused by burr bending which can be observed in micrographs, whereas the generation of exit burr is more complicated than enter burr; both burr breakup and burr bending are observed in exit burrs. In the selected area, the optimized spindle speed and feed rate for drilling PCB is 12 krev/min and 6 mm/s, respectively.

In this paper, hole wall roughness and tool wear were not considered in the optimization of drilling parameters. The future research work should consider them.

This paper investigates the mechanism of burr formation and thrust force in drilling PCB and then optimizes the drilling parameters to decrease the burr formation and thrust force.

The purpose of this paper is to present a novel force sensing jig for robot-assisted drilling used to drill holes for the fastening of floating nut plates in aircraft assembly.

The paper describes the drill jig, which consists of a parallel gripper, peg-in-hole pins and a back-plate with a recess where a Polydimethylsiloxane cone is placed on top of a force sensor. As the jig approaches the part, the force sensor registers the applied force until it reaches steady state, which indicates full contact between the jig and the part. The peg-in-hole pins then lock into a pre-existing hole, which provides a mechanical reference, and the support plate provides back support during drilling.

Positional accuracy and the repeatability of the system were successfully placed within the specification for accuracy and repeatability (0.1 mm tolerance and 0.2 mm tolerance, respectively).

The drill jig can be integrated into existing robot drilling solutions and modified for specific applications. The integration of the force sensor provides data for engineers to monitor and analyze forces during drilling. The design of the force sensing drill jig is particularly suited to industrial prototype robot drilling end-effectors for small and medium manufacturers.

The key novelties of this drilling jig are in the compact assembly, modular design and inclusion of force sensing and back support features.

The flexible printed circuit (FPC) board with the characteristic of light and thin strengthened confronted the growing miniaturization requirements of the electronic product and the popularity of wearable devices. The reliability of circuit could be influenced by the hole quality of FPC, such as burrs, which is one of the major problem in FPC.

In this paper, micro-drill with a diameter of 0.1 mm was used to drill the double-sided flexible copper clad laminate. The thrust force, the burr and tool wear were investigated. The influencing factors of the height of the burrs were studied. The relationship between the thrust force and the height of the burrs was also explored. Finally, the formation mechanism of burrs was analyzed.

The entrance burrs were usually less than the exit burrs. The burr height increased with the feed per rotation. The height of the burr increased with the increase of the thrust force for the plastic deformation of the copper foil was dominant. The abrasion of the drill gave rise to increase the height of burr. In micro-hole drilling, the growth of burrs can be suppressed effectively by reducing the clearance between the FPC and the backup plate. The thrust force would be controlled in a certain range to reduce the burr with specific drilling parameters. There existed a certain relationship of Gaussian distribution between the height of the burrs and the thrust force of FPC.

The reliability of the integrated circuit was directly affected by the burrs of the FPC. This research on the formation mechanism of FPC burrs and forecast of burr height provided a firm foundation for further work in the area of improvement of the micro-hole quality.

The purpose of this paper is to develop water vapour as a new cooling and lubricating technique in drilling Ti6Al4V. Water vapor is an economical and eco‐friendly coolant and lubricant. However, it is necessary to study the drilling chip deformation, forces and drilling temperature when drilling Ti6Al4V using this new green drilling technology, which meets the development trend of green machining technology.

Comparative experiments are carried out with HSS drill bits and YG6X (K10 type in ISO) cemented carbide drill bits in drilling Ti6Al4V under the conditions of oil water emulsion, water vapor as coolant and lubricant and dry drilling, respectively. The drilling forces, temperature and drill bit wear VBmax have been examined and analyzed. Further, a new type practical drilling quick‐stop device is developed for studying the chip deformation in drilling Ti6Al4V. The drilling forces distribution test in drilling Ti6Al4V is also developed.

When water vapor is used as coolant and lubricant, the torque is reduced by 15‐25%, 5‐10% in comparison with dry drilling and oil water emulsion, respectively; the thrust is reduced by 5‐10%, 4‐5%; the temperature is reduced by 15‐20%, 5‐8% and the wear VBmax of drill bit is reduced by 60‐80%, 10‐15%, correspondingly. Also, the contact length in chip‐tool interface decreases and the drilling deformation is reduced. The coolant and lubricant conditions and feed rate have little impact on the drilling force distribution in drill bit cutting edges.

A green machining technology, water vapor used as coolant and lubricant, is used in drilling Ti6Al4V; it can reduce drilling deformation, drilling forces, temperature and flank wear. A new drilling quick‐stop device is devised to obtain the drilling chip roots. Also, the drilling force distribution test was developed for obtaining the rate of drilling forces in cutting edges when drilling Ti6Al4V.

The purpose of this paper is to develop a statistical model for delamination and thrust forcing during drilling of carbon-fibre reinforced polymer (CFRP) composites using response surface methodology (RSM) to determine the input parameters (drill speed, drill diameter and feed rate) that influences the output response (delamination and thrust force) in the machining of CFRP composite using solid carbide drill cutter.

Three factors, three levels central composite face centred (CCFC) design, is used to conduct the experiments on CFRP by carbide drill. The whole quality evaluation (delamination) was done by video measuring system to measure the width of maximum damage of the machined CFRP composite. The thrust forces during drilling are measured using digital multi-component cutting force (Make: IEICOS, Model: 652) dynamometer. The “Design Expert 7.0” is used to analyse the data collected graphically. An analysis of variance is carried out to validate the model and for determining the most significant parameter.

The response surface model is used to predict the input factors influencing the delamination and thrust force on the drilled surfaces of CFRP composite at different cutting conditions with the chosen range of 95 per cent confidence intervals. The analysis on the influences of the entire individual input machining parameters on the delamination and thrust force has been carried out using RSM. This investigation revealed that the drill diameter is the eminent factor which affects the responses.

In all, 0.3, 0.4 and 0.5 mm holes have been successfully made on CFRP using vertical machining center, whereas the previous researchers have not drilled hole size less than 1 mm in CFRP using vertical machining center.

The purpose of this paper is to analyze machinability of CFRP, GFRP, GLARE-type composites in drilling process taking into account their features and properties (the geometric characteristics, the volume fraction and the mechanical properties of the individual components of the composite). Drilling in non-plan surfaces and slope drilling.

The tests were carried out in two stages: perpendicular drilling of materials such as GLARE with special drill bits, and drilling of composite structures with non-planar surfaces made of unidirectional carbon fiber prepregs, using the modified special drill. Measurement of cutting forces and torque, stress distribution (photoelastic method) and a visual assessment of defects occurring during drilling allowed to determine the relationship between the type and geometry of the composite drill.

Identified great effect of kind of composite on the machinability of these materials has substantiated modification of the standard geometry of drills and matching this geometry to specific properties of the various type of composites.

Drilling of assembly holes for aerospace parts.

New type of drill geometry for different type of composite.

In an integrated circuit (IC) substrate, more fillers, including talcum powder and aluminium hydroxide, are added, which leads to much higher rigidity and hardness compared with a traditional printed circuit board. However, the micro drilling of IC substrates is harder. This paper aims to test the drilling process of IC substrates to improve the drilling process and the micro hole quality.

Substrate drilling by a micro drill with 0.11-mm diameter was used under several drilling conditions. The influence of drilling conditions on the drilling process was observed. Drilling forces, drill wear and micro hole quality were also studied.

The deformation circle around holes, hole location accuracy, bugle hole and burrs were the major defects of micro holes that were observed during the drilling of the substrate. Reducing the drilling force and drill wear was the effective way to improve hole quality.

The technology and manufacturing of IC substrates has been little investigated. Research data on drilling IC substrates is lacking. The micro hole quality directly affects the reliability of IC substrates. Thus, improving the drilling technology of IC substrates is very important.