Applied Mechanics and Materials Vol. 762

Abstract: Due to their dimensions the micro-robots generally have a mono-mobile mechanical structure. This includes mechanisms acted by a single motor and consequently one input and multiple outputs. Such micro-robots have a fixed displacement strategy. The paper deals with the structural and kinematic characteristics of a robot complex mechanism with gears, cam and bars applied in different purposes [2, 3, 4, 5]. The systems may be equipped with various types of sensors such as tactile, proximity, sound and light ones.

Abstract: Analyzing applications involving industrial robots, these can generally be classified into two categories. In the first category, the robot is used to position an object or a tool in its working space. In the second category, the robot is used for programmed and continuous movement of an object in the working space. These two categories of use of industrial robots determine two families of characteristics considered fundamental for the assessment of performance robots: pose characteristics and tracking path characteristics. The pose characteristics are generally expressed by the pose accuracy and pose repeatability (positioning and orientation). From this category is “distance accuracy”, whose analysis is the subject of this paper. The authors present a method for measuring and evaluating of this characteristic, through 3D triangulation with two digital theodolits. The experimental researches were made for a welding robot type Cloos-Romat. The presented case study validates the results of the experimental research, the method and the used algorithm.

Abstract: Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationships between outputs and inputs have greatly influence about the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper one presents the general aspects of a railbound forging manipulator, like geometry, structure, general kinematics and forces of the main mechanism from such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.

Abstract: The most used joining process in industry today is the electric arc welding, EAW. After recalling the principle of the process, the authors present that development of EAW in the last half century is mainly due to the mechanization and automation. Earlier only rigid-type automation forms were used, for highly repetitive mass production – but later the industry requests demanded to find flexible forms of automation, capable of providing a diversified production based on welding and its related processes. Ways are then exemplified concerning mechanization of processes currently used in the industrial field: driving devices for the welding head having one or more axes, simple and complex rotation movements etc. The authors present both important developments of the essential components of EAW robotic systems, as well for robots and for welding equipment, developments that brought these systems to the current levels. The paper also proposes a new concept of programming robotic arc welding systems, consisting in maintaining the two arc ends on both TCP’s, one of the robot and the other of the workpiece. Then modern control methods developed for the welding process are described: programming the evolution of arc parameters in relation to the time; controlling of variation limits and directing the transfer of metal and energy through the arc. Finally, some examples and applications of robotized arc welding and related processes are presented.

Abstract: As the unpredictability of market needs and the mass customization trends increase, employing reconfigurable industrial robotic work cells becomes a viable solution for manufacturers. A reconfigurable manufacturing system is a system designed for a quick change in structure, both in hardware and software, in order to rapidly adjust production capacity and functionalities. However, the approach is quite general; a simple search within scientific literature, patent databases or the world-wide-web returns thousands of results, covering a time period from the 80s to date. Among the results, different approaches on reconfigurable industrial robotic work cell implementations can be easily noticed. This paper surveys the literature in reconfigurable industrial robotic work cells, aiming to identify, besides the most important approaches on this topic, also performance criteria associated to robotic workcell reconfigurability and means of measuring the reconfigurability degree of such cells. The survey also aims to identify command and control architectures used to achieve various levels of reconfigurability. The survey was conducted by using a specific search methodology, which is also presented in the paper.

Abstract: Coupling the structural analysis with the motion analysis in one simulation (hybrid analysis) provides an important mechanism which allows an integrated and optimal approach in the design of mechatronic systems. Such a procedure which includes Matlab/Simulink calculus and visualization of main efforts variation in each structural element of a robot during an entire operational task, allowing coupling structural analysis with motion analysis and testing the virtual prototype on multiple task scenarios is detailed in this paper. Also, the utility of this analysis (information) and ways to improving the control strategy for resources management of an intelligent mechatronic system are emphasized.

Abstract: This article follows a detailed description of development and validation for the direct kinematic model of six degrees of freedom articulated arm robot - Kawasaki FS10E model. The development of the kinematic model is based on widely used Denavit-Hartenberg notation, but, after the initial parameter identification, the mathematical algorithm itself follows an approach that uses the quaternion number system, taking advantage of their efficiency in describing spatial rotation - providing a convenient mathematical notation for expressing rotations and orientations of objects in three-dimensional space. The proposed algorithm concludes with two quaternion-based relations that express both the position of robot tool center point (TCP) position and end-effector orientation with respect to robot base coordinate system using Denavit-Hartenberg parameters and joint values as input data. Furthermore, the developed direct kinematic model was validated using the programming and offline simulation software Kawasaki PC Roset.

Abstract: In the context of latest technological revolution, Industry 4.0, connectivity and therefore access and control of cyber-physical systems and resources from any place, at any time by any means represent a technological enabler of crucial importance. The first part of this paperwork contains a brief introduction of cyber-physical systems and IoT concepts, together with a review of major IoT providers. The second part introduces an approach towards achieving connectivity and remote control of task selection for a dual-arm industrial robot using a commercially available IoT infrastructure and technology provided by ioBridge. Within the third part, details about experimental testing and evaluation of the selected solutions are presented. The last part is allocated for conclusions and further research directions.

Abstract: The purpose of this paper is to analyze the behavior of the industrial robot Yamaha YK400, SCARA model, used in machining operations (drilling, milling, deburring). In the industrial robot structure was integrated a mill Lund 79314. The mechanical structure of the robot is under the influence of vibration during the milling process. This paper aims to determine the process parameters vibrational based on the position of the characteristic point, speed milling and material. To achieve the intended purpose, we used a data acquisition system composed of acceleration sensor, acquisition boards, LabView. The obtained results were analyzed and interpreted.

Abstract: The efficiency of the technological operations executed by robots depends on how their kinematic parameters were calculated. This paper presents the exactly calculus of the robots kinematics parameters. As the algorithm has a substantial number of operations, it is necessary to use the computer.