Mechatronic Systems and Materials VI

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Authors: Józef Drewniak, Stanisław Zawiślak, Andrzej Wieczorek
Abstract: The present paper presents multi-way planetary gears modelled by means of contour graphs. The goals of modelling could be versatile: ratio calculating via algorithmic generation of equations, the analysis of forces and acceleration or optimization and structure analysis. The article describes an exemplary gear. Several drives/gears are consecutively taken into account discussing functional schemes, assigned contour graphs and a generated system of equations and their solutions. The advantages of the method include an algorithmic approach and a general approach where particular drives are the cases of the generally created model. Moreover, the method allows further examination and synthesis tasks, e.g. checking the isomorphism of design solutions.
Authors: Darius Bačinskas, Artūras Kilikevičius, Paulius Ragauskas
Abstract: The study results of the historic narrow-gage railway steel truss bridge built in the last century and still used are provided in this paper. Only one of the spans results is provided herein. Field tests with the original locomotive were carried out in order to develop an analytical model that will be used to evaluate the capacity of the bridge. Responses (dynamic displacements, accelerations, mode shapes, corresponding to the resonance frequencies and modal damping values) for the construction of the bridge were found. Studies have shown that the bridge meets the requirements and has enough reserve to work safely.
Authors: Vytautas Bučinskas, Andrius Klevinskis, Peter Mitrouchev, Robertas Urbanavičius
Abstract: The paper deals with the problem of suppressing vibration of the arm of Motoman SSF200 robot within the frame of the technological process. Based on an overview of literature, a semi-active vibration control system was selected and a double ended magnetorheological damper (MR) was designed. After testing the acceleration of the robot arm in milling operation without the MR damper, the device was employed and the acceleration of the robot arm in four operation modes was experimentally tested.The conducted research has proved that the double ended MR damper can be practically applied for suppressing the vibration of the robot arm. The higher power to the electromagnet of the MR damper is exposed, the better vibration suppression is. This means that by changing the strength of current, the technological process of the robot arm is under control. Thus, control over the technological process is simplified when the physical characteristics of the milled material, milled tool or operation vary.
Authors: Mindaugas Jurevičius, Artūras Kilikevičius, Paulius Ragauskas
Abstract: Performance of optical table with pneumatic vibration isolators is analyzed within 2–50 Hz frequency range. Specific vibrational excitation platform with a vibrator of the frequency range of 1–50 Hz in one of three directions were tested.The following pneumatic vibration isolator dynamic parameters were identified:transmissibility of vertical oscillation characteristics at 50 Hz frequency range;resonant frequency (vertical direction);damping efficiency at 5 Hz to 10 Hz for excitation frequencies.
Authors: Tomas Luneckas, Mindaugas Luneckas, Dainius Udris
Abstract: Hexapod walking robot is a complex electromechanical system with many degrees of freedom. Six legs ensure robot’s stability as at least three legs are always on the ground but require more effort in order to synchronize them for a successful locomotion. In this paper, we present a method that allows calculate feet trajectories in real-time and online. This method enables to select different gaits and their parameters.
Authors: Audrius Čereška
Abstract: The article examines the diagnostics of mechatronic systems and the possibilities of monitoring their facilities. The paper describes the stages of vibrodiagnostic research on the mechatronic system and refers to the measures for taking control that includes transducers, boosters, blocks of supply, programs, etc. The work employs a methodology for performing the analyses and vibrodiagnostic measurements of the mechanical-dynamic elements of mechatronic systems.
Authors: Mihai Olimpiu Tătar, Florin Haiduc, Dan Mândru
Abstract: Using the synchro-drive principle, the paper presents a new omnidirectional mini-robot with conventional wheels. The synchro-drive principle is achieved applying geared mechanisms: three for steering and another three for displacement. The mini-robot uses two DC motors and three pairs of conventional wheels. The first DC motor controls the rotation of three pairs of the wheels around the horizontal axis thus generating the driving force (traction) to the mini-robot. The second motor controls the rotation of three pairs of the wheels around the vertical axis hence generating their orientation.
Authors: Piotr Garbacz, Jordan Mężyk
Abstract: The Institute for Sustainable Technologies – NRI in Radom, together with Silesian University in Gliwice, have developed a group of mobile robots [1] intended for support of rescue actions. The group consists of two big robots: Explorer for exploring the environment and Transporter for transporting the number of small robots – Pathfinder (Fig. 1). The Explorer robot is capable of monitoring the environment in terms of temperature measurement, measuring the concentration of gases in the atmosphere and collecting the samples of soil. The Transporter is capable of transporting small robots and picking small objects as it is equipped with a container and a robotic arm and its purpose is to move small robots as close to the hazardous place as possible. Small robots called Pathfinder are intended to penetrate the area such as the room on fire and find potential victims or just allow the reconnaissance. All robots are equipped with one or more cameras and audio system for duplex communication. All the functions require the reliable and fast method of communication with enough bandwidth for the transmission of full duplex audio stream next to the simplex video stream and duplex control data stream.In the first part, the paper presents the brief overview of the market-available technologies for wireless communication; the second part presents the practical comparison test of selected products; and finally the last part of the paper describes the selected solution together with discussion on its capabilities.Fig. 1. Two of the group of four robots: small inspection robot and big transporter robotOne of the characteristic features of the designed group of robots is its low cost of production and maintenance, therefore the components used in the robot system could only be standard available constructions, but as the tests show, it is sufficient to fulfill the minimal requirement of range of at least fifty meters inside the typical building. Out of the considered communication equipment one of the commercially available Wi-Fi access point showed to be appropriate for the proposed application.
Authors: Anita Avišāne
Abstract: Today, mechanical engineering requires using more precise equipment, for that reason calculation of the deformation of machine elements requests higher accuracy. In the paper, an elastic deformation of machine elements taking into consideration the height of surface roughness is described. The paper studies and compares three different formulas for the calculation of the density of probability distribution of surface peak height and determination of the mathematical expectation value (ME) of surface peak height for those roughnesses being above a determined deformation level γ. The law on the density of probability distribution of peak height for such a normal random field was established by P.R. Nayak, yet this expression is practically inapplicable for the solution of engineering tasks, therefore the present work establishes that the given formula can be substituted by a simpler distribution law. Comparing three simpler formulas, sufficiently precise solution was established which can substitute the complicated formula.
Authors: Tomasz Dzitkowski, Andrzej Dymarek
Abstract: The paper presents the method for designing machine drive systems in the form of multi-gear gearboxes depending on the desired dynamic properties which can be understood as a series of resonant and anti-resonant frequencies in the form of dynamic characteristics. The properties assumed in such a way are the starting point for the parametric and structural synthesis of discrete vibrating systems.

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