Applied Mechanics and Materials Vol. 816

Abstract: The aim of this article is to develop a functional model of the crank mechanism with a rotating cylinder in MSC Adams/View software and its complete kinematics analysis. We analyze the movement of the members of the mechanism. Kinematic analysis was performed analytically and graphically. Finally, the work presents the results with graphical representation of parameters such as displacement, velocity and acceleration as well as angular velocity and angular acceleration in Adams/View.

Abstract: The paper discusses the use of differential filters in control algorithms. The filters are designed to determine the derivatives of the input signal and eliminate measuring and quantization noise. The differential filters improved the quality of control, with the results being better than those obtained with the classic Finite Difference Method (FDM). The primary purpose of the study was to employ the differential filters in a real-time control algorithm, which requires appropriate derivatives. The control process involved applying a method of aggregation of state variables, based on signal derivatives, which can be used for non-linear dynamic systems. The experiments were conducted on a test stand with a pneumatic muscle acting as the plant to be controlled.

Abstract: Computer simulation of contact interaction between a spherical indenter and soil surface was performed by the means of ANSYS software. It was assumed that the soil was deformed elastically-plastically in accordance with the model Drucker-Prager. It was carried out the analysis of the influence of the model base physical parameters on the stress-strain state of the contacting bodies. The comparison of the calculated by linear elastic model and Drucker-Prager model stresses values for the soil showed that for the case of the elastic-plastic model are three times less than for the case of the elastic model.

Abstract: The article deals with the issue of the use of geometric mechanics in mobile robotics. In the introductory part of article, basic notions are explained that frequently occurring in the concept of geometric mechanics including definition of the undulatory locomotion. It contains the determination of mathematical model for the kinematic snake-like robot that is expressed in the form of Jacobian. Further was described the relation between the body velocity and the shape variable by the reconstruction equation and from this equation was expressed the local connection. This local connection shown using the vector fields together with the gait were used to analyze movement of the kinematic snake. The last part deals with the height functions that determine the exact value of displacement or rotation in fiber directions.

Abstract: Paper deals with microcontrollers which are embedded inside the mechatronic products. Main purpose is to obtain intelligent behavior of products and adding of new functions to products. Paper shows steps to data capturing into microcontroller for data processing and using as feedback control of processes around the products.

Abstract: There is a general condition of the stress created by superficial forces in praxis. It can be also simplified when the shifting the forces and bending torques are equal to zero, or we can ignore them because they are too low. In term of draft it is just a condition which has the best result when the material for the construction is exploited. The edge of the cylindrical container failures are the differential base for the axisymmetric shell within an internal pressure. That main point of that contribution is the effect of the internal load and the bending effects to joining pressure of the slice cylindrical part and the plate bottom.

Abstract: There are often designed such constructional elements in the engineering practice that are specified for sensing of operational loading and for a precise setting of the individual components in the given technical device, for example components of a robot arm. Positioning of the robot arms is regulated by means of power output setting (or torque setting) of the driving parts (motors) predominately. Driving effect is transferred between the individual components by means of the connecting parts designed for transfer of force flow. There is described in this paper such design of modification for constructional element of the robot arm, which enables to perform measuring of torque in the joining parts of the robot arm during a current operation.

Abstract: The paper deals with the design of the simulation model of a wheel chassis with improved ability to cross a rugged terrain, which is to move across rugged terrain. One of the first steps taken was to propose the solution and its further improvement. In order to complete final simulation model, we carried out several simulations and resistance analysis confirming the advantage of the selected structure and mobility of the chassis.

Abstract: This paper describes the basic characteristic of the in-pipe micromachine. Themicromachine is based on two masses impact principle. Its diameter is 10 mm, length is 45 mm andweight is 10g. The micromachine is composed of a electromagnet, a permanent magnet, a adjustingunit, a guide rod, a damping spring and bristles. The paper represents the methods of friction forcesidentification

Abstract: This article describes the process of the development of trajectory accuracy testing and the course of modifications of an omnidirectional mobile robot Odin. It also chronologically presents connections between individual phases of developing its construction, electrical wiring, and control software. The first implemented prototype has presented a simple construction and drive control. This laid basis for designing the omnidirectional mobile robot Odin with an installed modular manipulator Schunk. Modifications in the drive control led to better results in the tests. In conclusion, the article describes and compares the acquired test results for various modes of chassis control.