Robust Control using Sliding Mode Approach for Ice-Clamping Device activated by Thermoelectric Coolers

By virtue of high quality standards, work holding devices play an important role in machining processes. Especially thin-walled and fragile parts in the micro manufacturing, but also free formed and irregular shapes in the macro manufacturing are difficult to clamp without deforming. In order to face these challenges an innovative adhesive technique is introduced and investigated in this paper: clamping with ice. In order to investigate the forces of ice-clamping, experiments were carried out and the results are shown and discussed in this paper. Analogous to mechanical force-fitted clamping jaws a definition of clamping and holding forces is introduced. Moreover, the design of a Sliding Mode controller, based on Lyapunov's approach, is proposed such that temperature disturbances caused from the machining process, like e.g. thermal energy of milling, are reduced.