Applied Mechanics and Materials Vol. 186

Abstract: Worldwide magnetism was considered a "stepchild" of electromagnetism, but lately this has changed, and scientists give it great importance today, making a series of studies in which it is the main "actor". Regarding the magnetostatic field, the appearance of magnets with high performance, has led the development of permanent magnet structures with different technical applications, which successfully replace electromagnets. In this paper our main objective was to design and test a device used for magnetic treatment of fuel fluid which flow through pipes before burner to improve combustion dynamics and decrease the released fumes.

Abstract: This paper aims to present special issues concerning the analysis of mobile robots with kinematic motion effects on the stability study. In the analysis, the authors used inverse kinematics, which enables rapid modelling and identifying solutions as regards the stability of bipedal robots. The symbolic solution for kinematics equations of biped robots is of great importance for the efficient controllability of these robots. In recent years, numerous researches have been done based on simulation of legged mechanism, especially on biped robots simulation and control. The following article focuses on the biped robot simulation and control handle with the aid of mathematical modeling methods (in MATLAB)

Abstract: This paper investigates the sensorless detection and evaluation of inner oscillations of unknown test objects mounted on a compliant test bench. The principle of the sensorless analysis is that test objects are not totally rigid in reality. This means one or more parts of the test objects are oscillating with different eigenfrequencies compared to their rigid equivalent. By comparing eigenfrequencies of both (rigid and fault test object) oscillating parts are detectable. The aim of this experiment is to demonstrate the use of a 6 DOF compliant Stewart platform (alternatively used in a simulation environment) to generate frequency sweeps in all degrees of freedom, to get a sensorless detection of vibrations in unknown objects. For this purpose only the preexisting sensors applied for the control of the hexapod should be used. The detection of loose parts by shaking objects can be done by a complex robotic manipulation task. Being designed for flexible use by small and medium-sized enterprises, the robotic Stewart platform (hexapod) will adapt autonomously to different test objects leading to a highly flexible robot.

Abstract: In this paper kinematic analysis of a 3-PUU translational parallel manipulator (TPM) is made by creating the forward and inverse Kinematic solutions. For a given position, control of the end effecter is then realized by using the calculated inverse kinematic parameters as reference values. For kinematic analysis relevant equations are derived from geometrical vector relations. For the forward and inverse kinematic solutions of the non-linear model a MATLAB based iterative algorithm is developed and the inverse kinematic solutions of limbs, are then used to control the end effecter position through screw rails which are driven by DC motors. After the general mechanical design of the manipulator all parts are drawn and modelled in SolidWorks, and a simulation of the motion in three dimensional space is made. To support the reliability of calculated parameters through inverse kinematic solutions, results are compared with the values of SolidWorks based simulation model of the manipulator. Furthermore a real position control with use of feed back encoders is applied and the evaluated results are compared with the results of a simulation model. Very similar and satisfactory results are obtained with both simulation and real application.

Abstract: The authors of this paper aim to highlight the basic design of a flexible manufacturing cell destined for the final processing of water radiators used for AAVs, cell serviced by a serial modular industrial robot possessing in its kinematic chain structure three degrees of freedom, RRT SIL type. The paper outlines the concept, calculation and design of the (MRB) rotation module at the studied industrial robot’s base and of the (MT) translation module of the prehension device attached to the robotic arm. Depending on the organological elements that are part of the MRB rotation module and based on a rigorous dynamic study performed on robotic modules, modeling conducted with the help of Lagrangian equations of the second kind, a dynamic-organological calculation algorithm was obtained for the selection of the appropriate driving servomotor necessary to putting the rotation movable system into service. The last part of the paper deals with the flexible manufacturing cell, together with the calculations related to profitability, economy and investment return duration, following the implementation of the RRT SIL-type industrial robot.

Abstract: Diagnosis measurement of vibration and noise, should allow monitoring of equipment defects, through a system of preventive maintenance, predictive. Automatic diagnosis of machinery and equipment was made in order to ensure a higher reliability of these and how to obtain a more extended life cycle without the occurrence of defects. Vibrations are always measured in analog format (time domain) and must be transformed into the frequency domain. Therefore Fast Fourier Transform (FFT) method is used to evaluate vibration Almega AX-V6 robot. The application of preventive and predictive maintenance management supports enterprise, because it proves effective, the information you provide in making decisions.

Abstract: The paper describes the way in which both results on stability and plantar pressure providing from different human subjects young aged close were obtained and processed to find the interdependence between any plantar malformation or diseases and some stability or locomotion problems. For this reason 5 young close aged human subjects without any plantar and stability diseases were tested both for their stability and plantar pressure as mean values evaluation reported to other 2 young close aged human subjects having different small plantar diseases. The aim in this study was to find the results on stability for the 2 special persons reported to the stability results for the first 5 normal tested subjects.

Abstract: In this paper we presented some theoretical and experimental considerations about the eye movements, gaze direction and correlation between them and the posture of human head. First of all it is important to analyze the movements of the eyes and also the modeling of image creation on the retina surface according to the illumination and accommodation process. In the second part of the paper we presented the experimental setup used to record the eye movements and the human head posture in possible situations. In the final part of the paper we analyzed the recordings of eye movements for a human subject during time experiments correlated with the eye gaze direction and simulations. Also the results, conclusions and future applications of these researches are presented.

Abstract: The production operation of the module includes stages: acceleration, breaking and the installed motion. Optimum on power and sizes the drive of the module of the manipulator should overcome the force matching a variable load at different stages of operation at constant power of an engine. For this purpose it is offered to use the adaptive mechanical drive containing the electric motor and an adaptive gear variator with constant engagement of toothed wheels. The adaptive gear variator provides the variable transfer ratio only owing to the mechanical properties lost-free energy on its transformation and without control means. The gear variator with constant engagement of toothed wheels is a planetary gear with two degrees of freedom, having the superimposed differential constraint under action of forces.

Abstract: The fusion of the optical and inertial tracking systems seems an attractive solution to solve the shadowing problem of the optical tracking systems, and remove the time integration troubles of the inertial sensors. We developed a fusion algorithm for this purpose, based on the Kalman filter, and examined its efficacy to improve the position and orientation data, obtained by each individual system. Experimental results indicated that the proposed fusion algorithm could effectively estimate the 2 seconds missing data of the optical tracker.