Aleksander Gwiazda

Motion Analysis of Mechatronic Equipment Considering the Example of the Stewart Platform

Modern CAD/CAE allows supporting the process of design and construction at many stages, from concept development through specific engineering calculations to the creation of design documentation. In the case of constructing mechanisms, the kinematic and dynamic analysis of the proposed system is an important step in the introduced process. The paper presents an example of the kinematic and dynamic analysis of the Stewart platform using Siemens NX software [1, 2]. The conducted investigation has allowed determining the geometric characteristics of the mechanism of the Stewart platform as well as the geometric parameters of actuators and their location. A dynamic analysis of the platform helped with establishing the required motor forces for realizing the moves with the maximum speed and acceleration. This allowed the initial selection of the parameters of electric motors. Traffic analysis was also performed for investigating collisions between the parts of the hexapod and between the hexapod and its environment.

The modular design of robotic workcells in a flexible production line

In the case of large-scale and mass production lines often the same model of an industrial robot is used in various places of the line and is intended to various task. However, the replacement of one industrial robot to another is a long lasting and arduous process. It requires stopping all the production line and sometimes even dismantling the whole workcell. Such situations are not frequent in production lines that are not flexible. They are related the most often with the failure on an industrial robot. However, during the designing of a flexible production line the ability to replace any robot, which is unrestricted, fast and trouble-free, greatly increase the flexibility level of such line. It could be realized by modular design of the proposed production line. In this way it could be possible to change any elements of such production system. But this approach needs to apply the specialized informatics system.This paper presents the obtained design of several versions of the same production workcell. Each, succeeding version of the designed production workcell contains more and more modular elements. Thereby it would be presented the evolution of a workcell design beginning from the typical design and ending with the fully modular one. One of tools needed to realize this task is the elaboration of a base of modules and typical joint and mounting elements that could be utilised in the described designing process. It is also presented the guidance information about the designing and programming processes useful at each stage of analysed process.

Modular industrial robots as the tool of process automation in robotized manufacturing cells

Recently the number of designed modular machine was increased. The term modular machine is used to denote different types of machinery, equipment and production lines, which are created using modular elements. Modular could be both mechanic elements, and drives, as well as control systems. This method of machine design is more and more popular because it allows obtaining flexible and relatively cheap solutions. So it is worth to develop the concept of modularity in next areas of application. The advantages of modular solutions are: simplification of the structure, standardization of components, and faster assembly process of the complete machine Additional advantages, which is particularly important for manufacturers, are shorter manufacturing times, longer production series and reduced manufacturing costs. Modular designing is also the challenge for designers and the need for a new approach to the design process, to the starting process and to the exploitation process. The purpose for many manufacturers is the standardization of the components used for creating the finished products. This purpose could be realized by the application of standard modules which could be combined together in different ways to create the desired particular construction as much as possible in accordance with the order. This solution is for the producer more favorable than the construction of a large machine whose configuration must be matched to each individual order. In the ideal case each module has its own control system and the full functionality of the modular machine is obtained due to the mutual cooperation of all modules. Such a solution also requires the modular components which create the modular machine are equipped with interfaces compatible one with another to facilitate their communication. The individual components of the machine could be designed, manufactured and used independently and production management task could be divided into subtasks. They could be also outsourced to an independent manufacturer. Standardization and run of the entire modular machine should be easier if standardized are individual modules. The advantages of modular design, in addition to those mentioned above, there are many more.

System of Designing Complex Technical Means Using Fuzzy Analysis

This paper presents the concept of the system adding designer work using fuzzy analysis of the notes of design requirements and solutions. Design requirements are generated basing on the proposed model of the technical mean life cycle. It includes three phases of life of a technical mean: its formation, its existence and its liquidation. In this perspective there are examined five general requirements associated with: the technical need, a man, the technical culture, the society and the environment. The design solutions are created basing on the concept of an universal structure of technical means. The structure of the system has following components: structural system, drive system and control system. Structural system is determined as the integrator of the whole structure of a complex technical mean. The drive system is secondary to the structural system. The third in the order of the systems is the control system. It is developed last so it must take into account the solutions developed for the structural system and the drive system. Generating constructional solutions is carried out in the three distinguished features of a construction: geometric, material and dynamic. The presented methodology is illustrated by the example of designing specific technical mean.

Agent-based models in robotized manufacturing cells designing

The complexity of the components, presented in robotized manufacturing workcells, causes that already at the design phase is necessary to develop models presenting various aspects of their structure and functioning. These models are simplified representation of real systems and allow to, among others, systematize knowledge about the designed manufacturing workcell. They also facilitate defining and analyzing the interrelationships between its particular components. This paper proposes the agent-based approach applied for designing robotized manufacturing cells.

Analysis of the Dynamic Properties of the Mechatronic Integrator of Control Procedures of the Vehicle Driven by Persons with Disabilities

The simulator of behavior of a disabled person driving the car is especially useful equipment. Mainly, the hands and the face of a driver are observed in order to determine facial expressions, slow-motion of the head and eyes, which according to the description of the simulation indicate disturbances of concentration and, in extreme cases may lead to nausea, or even loss of consciousness [1]. So, in the realization phase of the configuration the control system, the need to maintain high standards of safety was taken into consideration. The main problem described in the paper was measuring the acceleration and frequency of vibration during the operation of the simulator [2, 3, 4]. This analysis will help to determine whether any particular circumstances during crash simulations do not exceed the acceleration limit while the driver still feels its effects. It is also important to examine the frequency of vibrations, which during long driving simulator can cause nausea, dizziness or loss of consciousness. This analysis is a part of widely applied CAx analysis performed using special computer platforms that should be properly organized [5] and helps to expand the range of investigations [6].

Construction typification as the tool for optimizing the functioning of a robotized manufacturing system

Process of workcell designing is limited by different constructional requirements. They are related to technological parameters of manufactured element, to specifications of purchased elements of a workcell and to technical characteristics of a workcell scene. This shows the complexity of the design-constructional process itself. The results of such approach are individually designed workcell suitable to the specific location and specific production cycle. Changing this parameters one must rebuild the whole configuration of a workcell. Taking into consideration this it is important to elaborate the base of typical elements of a robot kinematic chain that could be used as the tool for building Virtual modelling of kinematic chains of industrial robots requires several preparatory phase. Firstly, it is important to create a database element, which will be models of industrial robot arms. These models could be described as functional primitives that represent elements between components of the kinematic pairs and structural members of industrial robots. A database with following elements is created: the base kinematic pairs, the base robot structural elements, the base of the robot work scenes. The first of these databases includes kinematic pairs being the key component of the manipulator actuator modules. Accordingly, as mentioned previously, it includes the first stage rotary pair of fifth stage. This type of kinematic pairs was chosen due to the fact that it occurs most frequently in the structures of industrial robots. Second base consists of structural robot elements therefore it allows for the conversion of schematic structures of kinematic chains in the structural elements of the arm of industrial robots. It contains, inter alia, the structural elements such as base, stiff members - simple or angular units. They allow converting recorded schematic three-dimensional elements. Last database is a database of scenes. It includes elements of both simple and complex: simple models of technological equipment, conveyors models, models of the obstacles and like that. Using these elements it could be formed various production spaces (robotized workcells), in which it is possible to virtually track the operation of an industrial robot arm modelled in the system.

Determination of the robot location in a workcell of a flexible production line

Location of components of a manufacturing cell is apparently an easy task but even during the constructing of a manufacturing cell, in which is planned a production of one, simple component it is necessary, among others, to check access to all required points. The robot in a manufacturing cell must handle both machine tools located in a manufacturing cell and parts store (input and output one). It handles also transport equipment and auxiliary stands. Sometimes, during the design phase, the changes of robot location are necessary due to the limitation of access to its required working positions. Often succeeding changes of a manufacturing cell configuration are realized. They occur at the stages of visualization and simulation of robot program functioning. In special cases, it is even necessary to replace the planned robot with a robot of greater range or of a different configuration type. This article presents and describes the parameters and components which should be taken into consideration during designing robotised manufacturing cells. The main idea bases on application of advanced engineering programs to adding the designing process. Using this approach it could be possible to present the designing process of an exemplar flexible manufacturing cell intended to manufacture two similar components. The proposed model of such designed manufacturing cell could be easily extended to the manufacturing cell model in which it is possible to produce components belonging the one technological group of chosen similarity level. In particular, during the design process, one should take into consideration components which limit the ability of robot foundation. It is also important to show the method of determining the best location of robot foundation. The presented design method could also support the designing process of other robotised manufacturing cells.

Construction Development Using Virtual Analysis on the Example of a Roof Support

The CAD/FEM systems enable the analysis and development of any constructional solutions. They are particularly effective for the complex technical means. In this regard, investigations are conducted to develop methodological concept for the design using the virtual environment [1,2,3,4]. This paper presents the solution basing on the proposed structure of the complex technical mean consisting of three components: structural system, drive system and control system. The structural system includes the carrying and functional elements. The drive system refers to the elements responsible for activating the functions of technical means. However, the control system is responsible for the implementation of the selected sequence of actions. Basing on such formulated concept it was presented the project of the powered roof supports with the strait-line mechanism. The work describes the results of the virtual analysis of the elaborated roof support construction. They are considering with the analysis of its functioning and with the fulfilment of the requirements consider with the human factors.

Modelling of robotic work cells using agent based-approach

In the case of modern manufacturing systems the requirements, both according the scope and according characteristics of technical procedures are dynamically changing. This results in production system organization inability to keep up with changes in a market demand. Accordingly, there is a need for new design methods, characterized, on the one hand with a high efficiency and on the other with the adequate level of the generated organizational solutions. One of the tools that could be used for this purpose is the concept of agent systems. These systems are the tools of artificial intelligence. They allow assigning to agents the proper domains of procedures and knowledge so that they represent in a self-organizing system of an agent environment, components of a real system. The agent-based system for modelling robotic work cell should be designed taking into consideration many limitations considered with the characteristic of this production unit. It is possible to distinguish some grouped of structural components that constitute such a system. This confirms the structural complexity of a work cell as a specific production system. So it is necessary to develop agents depicting various aspects of the work cell structure. The main groups of agents that are used to model a robotic work cell should at least include next pattern representatives: machine tool agents, auxiliary equipment agents, robots agents, transport equipment agents, organizational agents as well as data and knowledge bases agents. In this way it is possible to create the holarchy of the agent-based system.