Solid State Phenomena Vol. 198

Abstract: In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Abstract: The article proposes an approach to the development of a Delta robot which is the most frequently used robot with a parallel kinematic structure for industrial fast pick and place applications. The approach is model based and it summarizes important steps for the successful design of a Delta robot for the given application including description of the kinematics, multi-body dynamics modelling and flexible bodies notes. This is demonstrated on the particular Delta robot developed at Brno University of Technology (BUT).

Abstract: In this paper the servo drive with friction wheels is presented. The servo drive is designed to move the automatic laparoscope tool or laparoscope camera (thereinafter laparoscope sleeve or sleeve) in two Degrees of Freedom (DOF). The description of the drive mechanism, operating principle and mathematical model of this drive is presented. Based on this model, the Control System (CS) has been created, and used to the construction of a simulation model. The simulation illustrates the proper functionality of the mathematical model of the servo drive with the described CS. This paper also presents the servo drive test stand and the most important examination results from the point of view of using them in the cardiac surgery Robin Heart robot.

Abstract: The paper presents the process of development of a parallel manipulator for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR, fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. A controller is proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.

Abstract: The article presents a mechatronic system for the production of highly secured documents that allows for the realization of R&D tasks directed at the improvement of the level of security of electronic and physical RFID tags. The structure of the system allows for the application of special, low cost, flexible production systems enabling free use of developed innovative technologies, structures, components, formulas and procedures. The system is based on two technological lines. The first of them enables the manufacture of multilayer (glued), graphically and electronically non-personalised products that vary in size and shapes in the conditions of low cost experimental production. The second line allows for the introduction of unique graphic information in form of overprints assigned to suitable data entered into the microprocessor memory. Adequate verification systems compare the compatibility of the electronic record with the alphanumeric information and the conformity of digital graphics with the graphics in form of the overprint visible in certain lighting conditions. The additional application of the two-sided lamination results in the increased mechanical and physical endurance and resistance to non-authorised changes of graphic and alphanumerical information.

Abstract: Below, numerical analyses, as well as dynamics of a complex mechanism, are presented. Two objectives are focused: inverse dynamic model is needed (dedicated to be use in the model predictive controller); an identification method is searched (some trajectory parameters are controlled, when specific trajectory is tracked under an open-loop model-based control), as selected parameters must be identified for the model. A redundantly actuated mechatronic system is considered (in the present case some planar, parallel manipulator). When the redundancies are present, traditional torque estimation techniques can not be used directly (a non-square matrix is present in the equations). Thus, the right Moore-Penrose pseudo-inverse is used to estimate them. To model the mechanism - multibody dynamics is used. Its dynamics equations are nonlinear in respect to the joints position (displacements are significant during the mechanism motion). An open-loop model-based control algorithm is postulated for the system (the subcomponents from the closed-loop controller will not be considered in the present paper). As the real parameters of the controlled object can differ from the ones proposed in the controller, obtained trajectories differ from the requested (open-loop controller is used only). Correlations between the inertia error and the trajectory errors are tested. Sensible trajectory parameters are searched to estimate inertia of the controlled object. At present, analyses are restricted to numerical experiments, only.

Abstract: Welding equipment and other components included in the robotized or automated welding station are now usually equipped with advanced control. It not only enables effective exchange of the information between components of the system, but also allows to implement a very efficient hardware and software diagnostic tools, which is not commonly utilized, especially in smaller installations. The use of communication controllers and devices connected to the global network shall enable the realization of such monitoring in remote mode and with the use of modern ICT solutions the effectiveness of such monitoring will be greatly increased. Device operators and technologists will gain the ability to monitor remotely the status of these devices as well as the processes even in the real time [. This article presents a practical solution of implementing remote monitoring to the welding installation with the use of WEB2.0 services.

Abstract: The article presents a prototype of a robot control system for stereotactic brain surgery. The development of neuroimaging, as well as the implementation of modern devices for neurosurgery, has undoubtedly contributed to significant progress in this field of medicine. Reaching a pathology located deep inside does not pose significant difficulty from the technical point of view; it is the selection of the access route that is the problem - to prevent the occurrence of permanent neurological deficits, such as severe paresis, vision disorders, speech or consciousness disorders. Obviously, knowledge of brain anatomy allows for adopting appropriate surgical tactics; however, some patients with a high-risk access route are not qualified for surgery. Even the hand of the most skilled operator does not guarantee precise removal of the tumour whilst bypassing important neural pathways, hence the necessity of introducing robots, which increase the level of surgical precision. A neural surgeon is able to perform very complicated surgical actions; however, human psychophysical limitations in neurosurgical procedures are becoming increasingly important, as surgeons are more and more frequently willing to perform operations with accuracy higher than 1 mm, but this is virtually impossible without any enhancement. Apart from the natural limitations of precision of the human hand, the surgeon's mental and physical condition deteriorates during a several-hour-long surgical procedure, thus lowering the surgeon's fitness and precision of movement. High concentration and a frequently unnatural position during the surgery cause additional tiredness. Therefore, numerous research centres and commercial companies are working on surgical robots. It seems that neurosurgery is particularly inclined for the introduction of robots enhancing the precision of a surgeon's work.

Abstract: The paper presents the forward and inverse kinematics problems solution for 5 DoF automated serial link MCM cutting and welding machine. Particularly, the solution was developed for specific application to be implemented in industry. The developing of the mathematical model for control purposes, implementing algorithms for trajectory finding and mathematical model for forward and inverse kinematics solution are described in the work. The solution is presented as simulation in RobWork Studio software [, as well as a 3D interactive animation implemented in specifically developed software environment. The result of given solution are evaluated and directions of further work concerning the implementation of obtained solution in the actual industrial application are defined.

Abstract: This work presents ideas for a passenger car driving simulator for teaching the disabled. The functional structure, design assumptions, and the concept and operation of the proposed simulator are presented.