Solid State Phenomena Vols. 166-167

Abstract: This paper considers the application of simulators or demonstrators in the development of mechatronic products. It is shown at what step of the mechatronic design process a simulator or demonstrator can be used to significantly improve a products quality and thus identify possible errors and provide potential workarounds. Cost reduction is achieved by the use of simulators or demonstrators in the early design stage and less real product tests have to be carried out which also could be hazardous for the test person.

Abstract: The paper describes the definition of a set of generalized coordinates and forces (kinematic control parameters) necessary to satisfy a specific job. Specifically, the generation of a three dimensional curve with torsion described by a Frenet reference system. The method employed to accomplish this task is using the Original ADAMS program alias MCADA. The analysis results indicate that the method can be successfully applied when designing motion simulators; however, there are accuracy restrictions for high precision six axis machining.

Abstract: This paper presents the development of an Assistive Technology representative product: an automatic page turner system, designed for persons with issues like multiple sclerosis, Parkinson’s disease and other various disabilities that involve the motor functions of the upper limbs. Firstly, the authors emphasize specific features of Assistive Technology and analyse the most important functional aspects concerning different types of page turner devices. The proposed page turner system is based on a four-bar mechanism. Design aspects from the constructive and functional points of view are exposed and the developed prototype is described.

Abstract: In this paper a new method for determination and optimization of the workspace of parallel manipulators is presented. The proposed method is based on a geometrical approach, and offers the possibility to generate automatically the workspace in a CAD environment. Thus, the relationship between the geometrical design parameters of the parallel manipulator and its workspace can be analyzed without difficulty. Optimization problem considered in this paper consists in determining the dimensions of a parallel manipulator having the closest workspace to a prescribed task region. Finally, numerical applications of two types of planar parallel manipulators are presented in order to illustrate the proposed approach.

Abstract: The paper presents the design, implementation and use of an automatic test bench for the injection process, using an economical solution for recording successive images of a fuel jet injected into a chamber pressurized with nitrogen at ambient temperature, with a camera. Injection pressure can be adjusted with high precision using a closed loop PID control (closed loop). The test bench operation is synchronized by a computer-assisted system. Experimental results are also summarized for research of the diesel injection process.

Abstract: Nowadays the robotic or prosthetic artificial hands strive to achieve a high degree of anthropomorphism, a concept which expresses the capability of a robotic end-effector to mimic the human hand, partly or totally, as far as shape, size, consistency, and general aspect (including color, temperature, and so on). This paper proposes a new experimental approach regarding the kinematics of the human finger movement. By using video capture of a particular finger movement and dedicated video processing software we have determined the laws of variation for the main joints in the human finger. Therefore, the experimental method presented in detail in this paper is useful to corroborate the kinematic parameters (displacements, velocities and accelerations, linear or rotary) of an artificial robotic finger movement with those of the human finger movement.

Abstract: In this paper we present a novel approach regarding the exteroceptive sensor system of a new developed artificial hand. Force and proximity (distance) sensors are the main components of the exteroceptive sensor system of the new artificial hand. Modern control algorithms are conceived in relation to the signals received from these sensors.

Abstract: The pneumatic actuation is widely used in robotics. The actuators based on pneumatic artificial muscles are unconventional actuation systems which use the shortening by increase of the volume property which generate an axial force. They have a very good force/volume ratio and some advantages compared with conventional pneumatic actuation. This paper presents the mechatronic design of a PRRRP Biglide planar parallel robot actuated by four artificial muscles in antagonist configuration. The control system is based on an 8-bit microcontroller based development board and the position and force control is made by means of pressure regulation using proportional pressure regulators. It was determined the workspace of PRRRP Biglide parallel robot for different strokes of actuators using discretisation method in Matlab environment.

Abstract: This paper discusses the problem of synchronizing multiple robots in cooperative tasks. The problem is divided in two parts: first the problem of synchronizing robots which are handling large objects that cannot be manipulated only by one robot (hard connected robots) is discussed; the problem is approached from the point of view of path planning, kinematics, and movement synchronization. An alternative of control using the force control and dynamics which solved by using a decentralized control structure is also presented. The second problem concerns robot synchronization in a shared workspace; here is presented a method of control for collision avoidance and time optimization for the robot tasks (assembly / disassembly). In the conclusion section the results from the experiments conducted on two SCARA type robots (Adept Cobra s600) are presented.

Abstract: In order to set up well-structured multitasking robot application programs careful planning is required. Robot programming languages (e.g. Karel, RAPID, Melfa, SimPro, etc.) vary from robot to robot constructor. General planning tools used in software development (e.g. UML, IDEF, etc.) require adequate professional skills and a special way of thinking such that robot programmers to apply and adapt them to the specificity of each robot programming language. Customized and intuitive planning tools of robot applications with regard to each particular programming language seem to be preferred by ordinary robot programmers and operators when facing with the development of complex robot tasks. This paper introduces such a tool in relation to the RAPIDTM programming language, specific to ABB robot models. Its effectiveness is revealed in a case study.