Applied Mechanics and Materials Vols. 809-810

Abstract: The robots which are composed of mechanisms with Delta 3 DOF parallel structure are increasingly used due to the advantages they poses such as high rigidity and that they can be used at high speed and acceleration. When the mechanical structure of the parallel robots with Delta 3 DOF structure is designed, a proper selection of the drive servomotors is imposed. The drive servomotors are chosen according to the values of the torque needed for the manipulated object to move in the workspace along a trajectory with a specific speed and acceleration. In this paper, the authors approach the study regarding the variation of the drive torques of parallel robots with Delta 3 DOF structure, when the manipulated object moves along a trajectory with imposed speed and acceleration, in order to choose the drive servomotors. In order to determine the value of the drive torque, SolidWorks software was used. From the results obtained by experimental means, it has been revealed that the usage of the software packages in the dynamic simulation of the mechanical assemblies determines the shorten of time, costs of projection, in comparison with practical testing which supposes the realization of the prototypes physically, expensive and time consuming process.

Abstract: In the last years, robots with Delta DOF structure are more and more used in applications of high precision because of their advantages such as: high rigidity, they can be used at high degrees of speed and acceleration. Recently, the robots with Delta 3 DOF parallel structure have been used in the 3D printer’s field. Among the characteristics of the industrial robots, the accuracy has an important role in defining the performances of the industrial robots. The parallel structure Delta 3 DOF is actuated through three servomotor with gearbox. Because the driving systems introduce a series of errors from the nominal articulated coordinates, the positioning accuracy and repeatability are affected. In this paper, the authors study with experimental methods the means in which the errors introduced by the actuator can influence the positioning accuracy. According to the experimental results, the recommendations imposed were obtained in order to increase the positioning accuracy.

Abstract: This paper proposes a new approach to achieving the command and control modules that can be embedded in smart home building. As a result of this new approach, the house, which in the classical sense, corresponds to everyday family activities, becomes a place that can be monitored and controlled in real time, to ensure comfort their occupants. The embedded equipment can be sensors for data collection, actuators for operating various functions and a control unit which records data on which decisions can be made complex. The software programming used is Lab View. The challenge is determining how "smart home" is able to communicate with all components.

Abstract: In a manufacturing process it may be necessary to distinguish the parts of various types produced by different machine-tools and placed on a conveyor. Using an artificial vision system represents a possible solution. Images of the parts can be periodically taken using a video camera. It is considered that all parts are positioned with one of the faces which defines its type on the upper side. Thus, parts’ recognition can be solved by recognizing the shapes from the images. In addition, information about position and orientation of parts can be determined using the captured images. All these information are listed in a text file which can be used by a decision algorithm. This algorithm can choose which parts are useful to assemble different objects. An industrial robot can be commanded using a program written in RobotStudio environment’s programming language (RAPID) to pick the needed parts and place them in a storage area.This paper describes a recognition and measurement of position and orientation method of the different parts produced. In addition, details about implementing this method in MATLAB environment using Image Processing Toolbox and geometrical relations are provided gradually.

Abstract: The paper presents the method basing on engineering knowledge and experience for adding selection of cutting tools and parameters in a turning process. In this method, the system is built basing on a hybrid architecture that combines an advisory system and the CBR (Case Based Reasoning) method. It is presented the structure of the advisory system, and the functioning of the CBR method. Attention has been paid to the problem of an “empty database” in relation to systems basing on the CBR method. The paper also presents the possibility of integrating the developed method with a CAM system.

Abstract: The paper presents the method of mapping functioning of a 3D model of reciprocating motion drives of a robotic system, which is the final stage of a works transport system, created in the Siemens PLM NX 8.5 CAD/CAE environment. For this purpose, the 3D model of the considered robotized system, prepared for motion simulation in the “Motion Simulation” module of the Siemens NX system. In the elaborated model was defined the suitable components of the system and the joints between them. These components and joints were defined in such a way as it is possible to map functioning of a real drive in a virtual environment. The basis of functioning of such created drive model is information transmitted from a virtual controller basing on the DDE (Dynamic Data Exchange) standard of data exchange. In the adopted communication method between the CAD system and the virtual PLC controller is required to transfer displacement values at individual nodes in such a way as to map functioning of the real system. Therefore in the control program of a virtual controller is stored functioning characteristic of the considered drives system of the reciprocating motion. As the result of conducted work the virtual 3D model, prepared in a system of the CAD/CAE class, was integrated with the virtual controller, taking into account the mapping of functioning characteristic of drives.

Abstract: The paper presents the results of a study concerning the use of the Ishikawa diagram in analyzing the causes that determine a non-quality problem in the operation of a automotive. The studied problem was “the pressure loss on the high pressure branch in the diesel supply system of the COMMON RAIL motor”. All the possible, main and secondary causes that could generate the studied problem were identified. We determined many possible causes and potential sub-causes and we grouped them into three main causes of the defect: a) causes determined by errors of fabrication/ manufacturing of system components; b) causes determined by faulty exploitation of the automotive; c) causes determined by inappropriate service. We regrouped all the secondary causes in categories of M type and there resulted: 5 categories of secondary causes of repairs in Service which included the use of spare parts with manufacturing errors, conventionally noted M_S (Man-service, Methods-service, Materials-service, Machines-service, Environment-service);2 categories of secondary causes due to the operating mode of the motor car, conventionally noted M_E (Materials-exploitation, Man-exploitation). All causes and secondary causes described a new Ishikawa diagram, model named in the paper 5M_S + 2M_E. This diagram performed in a detailed form is presented in the paper.

Abstract: The elderly suffer considerable discomfort due to inadequate adaptation of everyday objects to their needs. This problem will grow in the future due to demographic changes and the increasing proportion of elderly people in society. Because of weakening with age muscle strength, as well as a decline in psychomotor coordination, activities such as opening bottles or handling keys become problematic. The problem is exacerbated in particular in the case of packages which need to safeguard against leakage or unauthorized opening e.g., by children, as they must have a high level of difficulty in opening (through considerable strength or manual dexterity). In turn, due to the cohort problem existing data cannot be directly used and an apparatus for the collection of relevant data must be constructed. To solve the problem, a method of biomechanical modeling enriched with the heuristic approach in the field of developing solutions to facilitate the opening of packaging is assumed, and the development of which is grounded in the principles of universal design. The article contains a summary of the existing solutions facilitating the opening of packages as well as allowing to obtain data in this respect for the elderly. As a result, a universal design enriched with principles of solving technical conflicts is presented.

Abstract: Due to the complexity of the product development increasing in Automotive Industry, the key characteristics of the product or manufacturing process become more and more important in the product life cycle. The importance of identification of key characteristics is considerably because of the impact that can occur in costs, product reliability, environment and safety. Each key characteristic is determined according to customer requirements and is controlled and monitored during production phase in order to secure the quality of the product. The identification of key characteristics is performed by a team, after the analysis of customer requirements, norms and regulations requirements and international organization requirements. The key characteristics are marked by a special marking and should be ensured a traceability of key characteristics through impacted documents (drawings, FMEAs (Failure Mode and Effect Analysis), control plan, work instructions etc.).

Abstract: The basis of effective and efficient production are the measurements. Manufacturing processes should meet the accuracy requirements to produce fit products. Processes capabilities are determined (estimated) and managed by measurements and not at least the suitability of the products are also found by measurements. The measurement technique is considered as a factor associated with costs without taking part in the creation of added value. As a logical consequence is offered to reduce the measurements in order to reduce costs, according to the possibilities, but this leads to increasing of defects in production. This expensive and sometimes fatal consequences of this mentality are not reported. Processes and products are evaluated incorrectly. The number of errors and the expenses increase.