Applied Mechanics and Materials Vol. 613

Abstract: This paper describes a hardware design of connection places for an automatic detection of a newly connected module and detection of its orientation for use in the self-reconfigurable modular robotic system. It also describes a mechanical design for an energy and information transfer between modules in the system. This paper also describes testing of an automatic detection with a graphical display of the results for an actual shape of a newly created kinematic structure of the system.

Abstract: The paper is dedicated to parallel parking maneuver description. Parking maneuver is based on movement along two circles. Maneuver is experimentally verified on physical model of vehicle.

Abstract: Insect colony inspires scientists for years to create similar behavior in the robotic application. The main goal of our work was to develop simple and powerful algorithm which will accept dynamically changes in the size of a robot swarm due the mission. This algorithm is suitable for situations where unpredictable conditions may lead to robot fault in multi-robotics system and mission completion is endangered. In this article we would like to investigate properties of a simple pheromone based algorithm. The algorithm operates as cellular automata and partially uses an insect pheromone strategy for the robots coordination. Our abstract model is a decentralized adaptive system with a shared memory which represents the environment.

Abstract: This paper presents the design process of human knee implant. The design has been used CT scans from the actual clinical trials. To make a 3D model from CT images Materialise Mimics software was used. On the basis of the resulting model, further work was carried out to obtain a STL model is necessary to carry out research numerical finite element method. This paper presents the results of numerical only one element of which is the medical polyethylene insert, which will act as a prosthetic meniscus.

Abstract: Nowadays, in the modern manufacturing factories and in the companies engaged in the robotic cells manufacture it is necessary to optimize the production time, diagnostics and commissioning of the control system. The control system should meet with several criteria for the functionality and transparency. These criteria can be achieved by introducing the program control standardization. Well designed and tested control algorithms can reduce the time needed for the preparation and commissioning of the robotic cell. Ultimately, costs reduction for the preparation of such robotic cell, transparency and rapid response for errors diagnostics in the control system will be achieved.

Abstract: Article deals the issue of connecting modules in modular structures applied in robotics, manufacturing engineering and technology in general. Themselves joining motion module is implemented interconnecting interfaces, which are placed stringent requirements of strength, stiffness, weight and the possibility of transporting energy and data flow through the interface. On the market can be founds similar solutions. However, these solutions are mostly designed for output stages of industrial robots. Primarily, these solutions focus on the end effector exchange systems in robotics. To determine the total track modular machine was necessary to design a new model for connecting interface that meets all the requirements placed on it.

Abstract: The market of rehabilitation robots has been recording slow, but steady growth for several years and this trend is expected to continue. Therefore, more and more commercial companies offering complete solutions have been entering the market and a new separate branch within the medical devices manufacturing industry can now be distinguished. Moreover, global leaders among rehabilitation robot suppliers can be identified. Nevertheless, there is still room for new companies operating locally for the benefit of their communities. An adequate research & development base and the advancement of R&D works are necessary for the development of rehabilitation robot manufacturing in new countries. This article presents the situation in this field in Poland.

Abstract: This paper deals about robotic system design. The design process is realized by CA systems in virtual robotic laboratory. These CA systems allow implementing the robotic system design graphics layout and simulating the control and robot movement in virtual platform.

Abstract: This article describes how to troubleshoot the collision relations multirobotic systems. Use of off-line simulation environment to solve the collision can be avoided relationships of mutual conflicts of the individual parts of workplace. In the article there is an example solutions multirobotic system for spot welding from the use of three industrial robots. The role of the workplace is to create 39 welds on five-parts in compliance with the tact lines 104 seconds. Welded part is the inside back fender car designed for driving in light terrain.

Abstract: The paper analyses one of possibilities to use new materials based on polyurethane, polypropylene or silicone having highly adhesive contact surfaces for gripping elements designing. In concrete terms, it is a case of an alternative approach to the solution of designing standard multi-elements vacuum gripping heads with an active control system (vacuum level control) controlling gripping forces in processes of automatic handling flat objects of the plate type. The aim of this new design solution is to replace individual gripping elements (suction cups) by elements, the surfaces of which coming to the contact with the object handled are provided with adhesion materials. The system minimizing energy demands stemmed from this solution, namely in the way that it decreases or even eliminates the pressure air consumption when combined vacuum-adhesive or only adhesive gripping elements are used. Moreover, it is possible to use the adhesive gripping principle profitably in technological processes susceptible to the environment contamination with airflow when manufacturing new products with many functional layers. Besides a general analysis of problems, the paper presents outputs of laboratory tests. Also a computer model of the contact respecting rheological behaviour of the adhesive material basic matrix is given.