Applied Mechanics and Materials Vol. 613

Abstract: Paper presents gradual progress in the development of biomimetic mobile underwater robot with undulating propulsion starting from the rugged but functional first version of CyberFish through very agile and manoeuvrable second and third version till fifth one – accurately imitating real fish. Trends in BUUV technology is briefly described in the introduction. The second and third sections describe previous, and actual state of CyberFish project successfully carried out at Cracow University of Technology and focusing on the succeeding robots design and construction. Paper is summarized with problems of the BUUV technology development yet to be solved.

Abstract: Unit recently, electronic management systems were reserved exclusively for production systems. The development of technology has enabled the construction of "intelligent buildings", that is buildings equipped with advanced systems to supervise the operation of household equipment. Control systems monitor the condition of the rooms (temperature, humidity) using sensors, and the measurement is analysed by a program resident in the memory of a microcontroller which, based on a developed algorithm, makes the decision to activate the actor – an actuating device (heater, air conditioner). The system acts like a robot, which creates the picture of the world with its sensors and then, based on its built-in "intelligence" (a program), performs a specific operation. The only difference is in the appearance; instead of a human-shaped android, we have a "thinking" building. The intelligent building control system enhances the living comfort of the inhabitants and reduces the energy intensity. A characteristic feature is the user's ability to interfere in equipment operation parameters, e.g. to change the temperature. Therefore, control systems feature a simple and functional interface suited to the skills of an average user. It is activated on any device with an internet browser to enable the remote control of the system.

Abstract: Small precise robotic devices, working on principle of compact compliant mechanisms, must meet the conditions to high positioning accuracy what mean moving in straight-line too. But, compliant mechanisms are usually produced by equivalent of revolute joints, therefore in design of small robotic devices is necessary apply knowledge from design of one type of specialized mechanisms – straight-line mechanisms. This paper presents some straight-line mechanism and its applications to design of some small precise robotic devices. According to kinematics analysis most known straight-line mechanisms are evaluated for their application in compliant mechanisms. Such devices are transformed to flexure structures. Consequently, these devices are important building blocks to design some linear-motion stages and/or micro-grippers.

Abstract: Application was designed for exhibition purposes. It is a human – robot communication via mobile phone or tablet with Android. Moreover, there is also a link with the camera system. First, it explains the algorithm application. Furthermore, in the article is a description of five software applications that have been developed the system to work.

Abstract: This subscription explains after introducing of the company Harmonic Drive AG functional principle of Harmonic Drive® gears and their advantages. Especially are ushered components set, units and servo actuators for the construction of robotic arms and manipulators.

Abstract: The paper presents an approach to design optimization of robot gripper mechanism. There are two different optimization criteria, a force transmission ratio and a displacement transmission ratio, considered. In order to generate the optimal solutions, three algorithms are applied. There are gradient based method, random search method and evolutionary algorithm used. The results and a comparison with the industrial gripper, show possibility to improve parameters of the gripper mechanism using optimization procedure. They show as well, that conventional algorithms often fail during optimization process and the most suitable methods in this case are evolutionary algorithms.

Abstract: The paper sums up results achieved during in the last few years of the development and research of service robots aiming their use for service applications on vertically oriented walls with predominantly smooth contact surfaces having minimal altitude unevenesses within the range ± 5 mm. Two robot generations are described step by step, and both of them use the same mechanical principle of the patented system of motion. The system uses the intermittent motion when positions of the robot legs and body alternate cyclically, and the appropriate gripping force of a holding-down system is realized by vacuum. As compared with the first version, the current one allows legs to move independent in part. In that way it is possible to compensate better variations of parallelism between a contact plane of the robot holding-down system and a vertical wall. Moreover, the robot is provided with a rotary unit making possible a rotation on the axis going through the robot center and being perpendicular to the contact plane, which guarantees a change in the robot orientation in the plane. As for drives, very compact rotary actuating mechanisms (servo drives) are used, having a high ratio of power parameters in relation to weight and dimensions, combined with a control based on an industrial PC.

Abstract: Technological progress and specific of the modern consumer market forces the use of more and more advanced solutions in the field of automation and robotics. Companies offering such solutions must also provide future users with the knowledge necessary to operate the equipment. In many cases, traditional methods of knowledge transfer are not effective due to the nature of the applications offered and the specifics of work in the production area. The article presents solutions for the transfer of knowledge related to the operation of automation equipment and robotics, and information technology solutions to support this process. Mentioned in the article methods allow the effective dissemination of solutions in these areas.

Abstract: This article describes mechanical construction and electronic equipment of a rescue robot developed at the Brno University of Technology, specifically the robotic arm module. Modular design of the body and electronics allows full support of the operator and choice of the appropriate set of sensors for the given task (rescue action in the avalanche, debris or damaged house). One of the modules is a robotic arm module. The arm is a 3 degrees of freedom device able to carry up to 2 kg of load in the fully stretched position. It incorporates two brushless drives to rotate the joints of the arm and a servo drive to rotate the platform.

Abstract: The goal of the presented article is a description of an inductive method of knowledge structure creating, which may be applied in a system of an autonomic vehicle control. The paper deals with the relatively simple task of industrial vehicles control, which operate in a specific environment. The information about the environment is achieved from camera mounted on the vehicle. An analysis of the image leads to the construction the knowledge in a form of structure of concepts (i.e. classes) and objects. The proposed approach is illustrated by simple example. The paper describes crucial problems of the proposed knowledge creation, especially concerning initial assumptions about visible phenomena and problems of the knowledge updating (learning). The article attempts to formulate conditions determining a successful usage of the proposed methodology. The main condition is building an efficient methods of searching the proper concept structure.