Advanced Materials Research Vols. 463-464

Abstract: The design and control problems involved in the development process of robotic grippers have been active research topics in the last three decades. In this paper it is presented a new developed dexterous robotic hand whose mechanical structure is based on a biomechatronic approach. The control system for this artificial hand relies on modern software and hardware components which allow precise positioning of the fingers.

Abstract: In this paper we present a mathematical model able to calculate the section forces that act upon the elements of the RRT dyade, in order to facilitate the required strength check-ups.

Abstract: This paper presents a method for increasing the speed and the positioning accuracy of the positioning systems with mechanical position feedback. The method consists in using a position transducer for real time determination of the position of the load and correcting this position using an adequate algorithm. It is preferable not to modify the construction of the positioning unit, allowing the user to decide when to use this correction method according to the practical application. An interesting solution to this problem is to use an external space-position finding sensing system, as presented in the paper.

Abstract: The grippers for industrial robots with two or more DOF and a single driving motor are used to grasp the work pieces with poor stiffness in terms of low positioning accuracy. These grippers have a simple structure and are proper and suitable to blanks or semi-finished work pieces, with major dimensional deviations, which are handled between various tasks from manufacturing process. The geometrical symmetry of the system made by fingers and work piece is got by a suitable distribution of the force. This distribution is realized by an adequate design of the gripper fingers. In present paper some considerations concerning the optimum synthesis of the gripper mechanism with two multi-links fingers are shown.

Abstract: The scope of this paper is to explore the input parameters of a Finite Element (FE) model of an active lower limb that are most influential in determining the size and the shape of the performance envelope of the kinematics and peak contact pressure of the knee tibial insert introduced during a Total Knee Replacement (TKR) surgery. The active lower limb FE model simulates the stair ascent and it provides a more complicated setup than the isolated TKR model which includes the femoral component and the tibial insert. It includes bones, TKR implant, soft tissues and applied forces. Two probabilistic methods are used together with the FE model to generate the performance envelopes and to explore the key parameters: the Monte Carlo Simulation Technique (MCST) and the Response Surface Method (RSM). It is investigated how the uncertainties in a reduced set of 22 input variables of the FE model affect the kinematics and peak contact pressure of the knee tibial insert. The kinematics is reported in the Grood and Suntay system, where all motion is relative to the femoral component of the TKR. Reported tibial component kinematics are tibio-femoral flexion angle, anterior-posterior and medial-lateral displacement, internal-external and varus-valgus rotation (i.e. abduction-adduction), while the reported patella kinematics are patella-femoral flexion angle, medial-lateral shift and medial-lateral tilt. Tibio-femoral and patella-femoral contact pressures are also of interest. Following a sensitivity analysis, a reduced set of input variables is derived, which represent the set of key parameters which influence the performance envelopes. The findings of this work are paramount to the orthopedic surgeons who may want to know the key parameters that can influence the performance of the TKR for a given human activity.

Abstract: The paper submits a computer analysis of a vacuum gripping element, a suction cup with the rigid supporting plate, loaded radially. Results of the computer simulation are used when designing new vacuum gripping elements which have a function of a controlled modification of the friction behaviour and adhesive properties of the element contact surface with a view to increase a carrying capacity in the radial direction keeping the vacuum levels used standardly. The designed vacuum elements will be used for technologically demanding processes during flat glass working having only limited energetic connection with their vicinity, and also for robotized handling objects of the plate design. A next field of application will include an induction of hold-down forces in climbing of service robots on glass facades of high-rise buildings [1, 2].

Abstract: This paper presents some researches regarding the use of electro-hydraulic servo-systems in driving the industrial robots, taking into consideration the conditions in which the robots work. The researches conducted upon a particular system, reveal the optimum design elements for obtaining a good behaviour in use, subsequently a good stability in use.

Abstract: Based on the microwave radiometer for goals positioning the least-square method to basically have two kinds: using linear approximation, but positioning accuracy is lower; Or by using nonlinear approximate such as Newton iterative method, but need to consider iterative convergence and computation problem. Based on this situation, a new data fusion approach is given. This method for taking two vessels measurement use linear least squares to the fair, then introduced one kind of weighting operation to carry on the fusion to two vessels rendezvous result, get multiple-vessel localization model and the error analysis. The simulation result indicate that the new algorithm increase the localization precision, enhance the positioning stability.

Abstract: The paper illustrates the structure of plane mechanical systems used to manipulators. In the first part are presented some kinematics schemes used to plane manipulators. These mechanisms are used to manipulators, positioning and control systems. In generally these mechanisms have two or three degree of mobility. The purpose of the paper is to study the dynamics of a plane manipulator mechanical system used to manipulate garbage containers. It is presented the kinematics scheme of a plane manipulator, used to this purpose and is presented the mechanism functional description. In the second part is presented the kinematical and dynamical analysis for the plane manipulator mechanism. In the last part of the paper are presented graphical results for the dynamics parameters.

Abstract: With smart power grid put forward, establishing disaster backup system is in urgent need to improve the reliability and tolerance. The paper presents an evaluation model of EMS backup system constructing, Indicates the priority of the integrated inter-backup solution through establishing the backup system analyzing evaluation model. Analyse and Discuss the key technologies of cloud computing in integrated backup system.Base on the distributed storage technology of cloud computing, construct the EMS integrated inter-reserve solution, saving the cost greatly in the premise of ensuring the reliability of backup system.And then implemented it by using cloud computing technology