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This paper compares the cutting process characteristics of organic and inorganic coolant for milling process. RBD(refined, bleached & deodorized) palm olein, refined canola and soy bean oil were selected as based oil for soluble mixture(organic) while Jetkool SC95 as inorganic metalworking fluid (MWF). Throughout the research, carbide coated cutting tool and JIS SS400 mild steel are used with various feed rate, depth of cut and fixed spindle speed to determine the cutting temperature, forces and also surface roughness. Heat capacity, pH and tool wear assessment are carried out as well with same material. From the research, cutting temperature, cutting force and surface roughness are proportional to the feed rate and depth of cut. The MWFs pH level also drops after cutting process. Each MWFs showing their different strength on different assessments, overall from the results obtained, palm oil has a high potential to be marketed as organic MWF.

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Purpose -The purpose of this paper is to investigate and contribute to a better understanding of cutting process characteristics using the proposed RBD Palm Olein-based organic mixed coolant. Design/methodology/approach -In this research, refined, bleached and deodorized (RBD) Palm Olein is selected as the base oil for organic coolant and mixed coolant (base oil mixed with chemicals) to compare with the cutting performance of industrial water-soluble chemical (inorganic) coolant. Using coated carbide tool, JIS SS400 Mild Steel was tested in milling process. At fixed spindle speed, the relations between feed rate and depth of cut (DOC) on cutting temperature and surface roughness were investigated. Also, the dynamic viscosity, specific heat capacity and pH level for each coolant are taken into consideration. Findings -As predicted, cutting fluid with lower viscosity removes more heat. The cutting temperature increased with increasing feed rate and DOC. However, surface roughness increased with increasing feed rate but decreased with increasing DOC. From the data gathered, the proposed RBD Palm Olein-based organic mixed coolant showed better heat removal properties than organic coolant and it produced a far better machined surface than inorganic coolant. Originality/value -Overall, the proposed organic mixed coolant has shown great potential to be a good cutting fluid when balance between cooling properties and lubricity, and consistent quality of cutting fluids are sought to produce environmental friendly quality workpiece.

The hybrid arms robot (HAR) is a new modified robot which consists of a rigid link (RL) and a flexible link (FL), and it carries a laser head at the end-effector for laser contour machining (CM). The HAR is inspired from a rigid-flexible links manipulator (RFLM) and the aim is to bring the advantages of flexible link manipulators (FLMs) to industrial robots. The HAR gains the advantages of lightweight robots and FLMs such as fast response, less power consumption due to using small actuators, low cost, and safe to surrounding operators. However, the HAR has the drawback of a tip vibration caused by the flexibility of the second FL and leads to a position error at the end-effector position. Furthermore, the HAR has more parameters to be incorporated in a dynamic model such as the tip vibration, the laser head weight, and a force generated by the assist gas pressure. This research aims to obtain the dynamic model of the HAR using the finite element method (FEM) in conjunction with the Lagrangian equation and to propose an integrated optimal controller (IOC) which is an integration of a linear quadratic regulator (LQR) and a fuzzy logic controller (FLC). The derived dynamic model of the HAR is efficient due to the close match response with the SimMechanics model response of the HAR. The proposed IOC is tested for point-to-point (PTP) position control of the HAR and demonstrates improved response and better capability for the tip vibration suppression. The proposed IOC also reveals enhanced triangular CM trajectory, rhombic CM trajectory, and circular CM trajectory of the HAR laser head compared to the LQR performance in a proper cutting speed to ensure the machining quality.