Applied Mechanics and Materials Vol. 657

Abstract: The present paper work shows theoretical and practical research for constructive solutions of the load station system for the working parts and tools in order to achieve a flexible manufacturing cell UO-1 that was realized at University of Oradea by retrofitting activity. The constructive solution for load station is new and original and it was designed and effective produced in the Faculty of Engineering Management and Technology Laboratory, in order to be use at the flexible manufacturing cell for the loading and unloading of the working parts and tools by means of ABB robot IRC 1600.

Abstract: In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

Abstract: In this paper, we describe a novel robotic elephants trunk arm with the possibility of spatial positioning that is used increasingly in wider applications as in surgery interventions and in industries where is required performing complex trajectories. We suggest innovation in robotic structures arms with a high ratio between length and arm diameter. This feature is compulsory in medical field to achieve minimally invasive incisions and accuracy. Our design concept offers a solution for structure miniaturization using a small number of actuated joints that are serially connected by discreet rigid links and implemented in the modular structure to achieve a high level of spatial accuracy and minimally diameter arm. There have been made and developed numerous similar designs some of them by [1, 2, 3, 4, 5], but without the advantage of our approach revealed in the kinematic analysis.

Abstract: In this article we present a methodology of minimizing the number of movements performed by an existent pallet changer mechanism attached to an horizontal machining centre. After analysing the existent pallet changer mechanism along with the machining centre we obtained new optimized constructive alternatives regarding the number of movements performed by the pallet changer. After applying the tree-graph method we had optimized structurally the considered pallet changer mechanism and obtained the constructive configuration which performs the least movements in order to change the pallet. The small number of movements of the resulted pallet changer mechanism helps the design engineer to choose the most simple structure which reflects positively in the production cost. The minimum movements number obtained by making use of this method will lead to a simplification of the driving, command and control system of the pallet changer mechanism.

Abstract: In the last years, due to the advantages presented by Delta 3 DOF parallel structure robots, they have been used in the field of high accuracy mechanical processing. In this field, it is demanded that the manufacture of components present high quality. The positioning accuracy for the parallel structure Delta 3 DOF robots can be affected by errors entered from the mechanical structure or by the control and command system. The accuracy class in which the mechanical elements are manufactured can affect the positioning accuracy within the robots with Delta 3 DOF parallel structure. In this paper, the authors study the ways in which the dimensional deviations of the kinematic elements influence the positioning accuracy. The method which is used correlates the dimensional deviations with the positioning accuracy. Therefore, the positioning accuracy of the Delta 3 DOF robots can be established within the design process.

Abstract: Robots have rapidly become key elements to improve general performances of the existent products, to add up new supplementary characteristics or even in view of creating new products that were impossible to create prior to this research. This paper presents a measuring system with optical device in view of determining velocity variation on the investigated axe of the maximum velocity and acceleration or of their variation in dynamic circumstance. The advanced research of precision parameters is a technical necessity, which leads to the selection of linear actuators according to the conditions of usage. Has been made a measurements stand in order to determine these parameters, a stand equipped with laser ruler with a system of numeric acquisition of experimental data. By analyzing the measuring values presented in this paper it can be concluded that when the positioning precision in the target - point of an acting linear robot or when the trajectory precision is absolutely required, the obtained results must be taken into account. We can operate these appropriate corrections in the system of dynamic programming of the robot.

Abstract: An automated robot vision application for work piece manipulation is described. The purpose is to pick up work pieces like bearings from a pile and store them in a specific location. The necessary image processing algorithms developed for this application and the camera calibration process are realized by using Matlab software. Based on these algorithms the operation for detecting, identifying, sorting and manipulating the bearings is realized. Also the mathematical model for determining the position and orientation of the bearing with respect to the world reference system attached to the robot’s base is presented.

Abstract: This article presents the model of the e-manufacturing environment as the multi-agent system. The e-manufacturing system is a joint, multi-dimensional base gathering all required information and providing fast access to data and various analyses needed for a manufacturing control system in a real time. All operations executed at the level of a manufacturing system are related to the appropriate level of a management system, thus it allows synchronizing actions at these areas. Fluent combination of operations realized at various levels of a company system allows to manufacture products of highest quality/reliability with maximum utilization of production resources and maximum adaptation of products basing on actions and decisions made pursuant to actual information from production plant. Applying the multi-agent systems for enterprise manufacturing control system enables automation of many processes which previously required human intervention, such as the inspection and control processes. Creating the environment which enables direct access to all the data coming from the production system and utilization them in a real time leads to a more correct analysis of processes taking place on all levels of the enterprise manufacturing system. Applying the multi-agent technologies significantly accelerates the information flow inside the virtual enterprise.

Abstract: Condition monitoring is becoming popular in industry because of its efficient role in detecting potential failures. The use of condition monitoring techniques will generally improve plant production availability and reduce downtime cost. A reliable adaptive control system can prevent downtime of the machine or avoid unwanted conditions such as chatter vibration, excessive tool wear by allowing the optimum utilization of the tool life. To ensure the quality of machining products, reduce the machining costs and increase the machining efficiency, it is necessary to adjust the machining parameters in real time. A survey of actual researches is presented in this paper in purpose to define new directions of improvement of adaptive control towards smart machining systems.

Abstract: This paper presents an original method for the synthesis command involving a controllability matrix, which is used for systems with distributed parameters, and further more for systems reduced to a finite dimensional space.