Darina Hroncová

Kinematic Analysis of Mechanisms Using MSC Adams

This paper deals with kinematic analysis of a six-member mechanism. The analytical solution is based on the fundamental kinematic relations derived for this mechanism. The program MSC ADAMS was selected for the simulation modeling of mechanism. That program allows comprehensive analysis of this system using a simple modeling.

Kinematic Analysis of Crank Rocker Mechanism Using MSC Adams/View

The aim of this article is to develop a functional model of crank rocker mechanism in ADAMS/View software and subsequent complete kinematics analysis hereof. We analyze the movement of the members of the mechanism. The kinematic analysis was performed analytically and graphically. The mechanism has been modeled too and solution was drafted in the program MSC ADAMS/View. The next stage is the simulation with a set of different parameters to obtain its kinematic analysis. Finally, the data gathered in this process is compared and evaluated. Finally, the paper presents the results with graphical representation of parameters such as speed, distance and acceleration.

Kinematic Analysis Planar Mechanism of a Pump Using MSC Adams

The aim of the paper is to present the application of MSC Adams/View for kinematic analysis of motion of a pump mechanism. The first section describes the program Adams and its modules Adams/View, work with this module and its basic operation. In the following section there is the kinematics solved using numerical methods. This work deals with the assembly of the models in Adams/View, simulations, plotting of the trajectory of the mechanisms points, and kinematic parameters of mechanism members. The software shows displacement, velocity and acceleration, angular velocity and angular acceleration. Finally, the paper presents the results with graphic representation of parameters such as displacement, velocity and acceleration.

Simulation of Worm-Like Machine

Abstract The paper deals with bristled in-pipe machine simulation. Simulation model is developed and experimentally identified properties are added into the model to achieve high coincidence of the model with real machine. Simulation gives the answers to some selected problems.

Motion Planning of Mobile Robot

The article deals with the issue of mathematical modelling of wheeled mobile robot. The introductory part of article contains theory regarding different approaches of mathematical modelling that we used. Further we applied these methods of mathematical modelling to wheeled mobile robot and we determined the mathematical model. The last part contains the motion planning in the base space and motion planning in the fiber space. These simulations of movement were realized in MATLAB.

Mutual comparison of developed actuators for robotic arms of service robots

Development and deployment of new drives using reducers is exactly dependent on their area of application. Designing a universal drive is complex and cannot be done without various compromises. When installing the drives into the robotic arm nodes used on the chassis of the mobile service robots, it is also necessary to provide suitable input voltage values for operation on the built-in batteries. To provide the desired results, it is sometimes more suitable to have actuators with various configurations which, however, leads to the need for a comparison between them. Testing stands of drive manufacturers are designed to test drive parameters that are standard version. For the development of new drive configuration with the use of secondary transfer, it is necessary to implement the specific verification stands, which allows for comparison between the properties under the same test conditions. Drives equipped with accurate reducers are very sensitive to the choice of the correct methodology for measuring, because their declared repeatability is less than 1.5 arcmin. The article describes the relative positioning accuracy of the resulting configurations of the two actuators, one of which uses a secondary belt drive and the other uses a flexible coupling for linking the motor and the reducer. For the avoidance of production inaccuracies, the motor and reducer on the measured drives are the same. This means that before the verification of the first drive, it is necessary to assemble the whole system, according to the prescribed manufacturing process. After implementing the measurement, the same components are used, namely the engine and the reducer of the other drive, and the measurement is carried out under the same conditions.

Input-state Linearization of Mechanical System

The article deals with the issue of input-state linearization of the mechanical systems. The introductory part of article contains theory about exact linearization that we used. Further we explained the basic principle and procedure of input-state linearization. Then it contains the determination of state space for mechanical systems, the computing of vector fields, the investigation of controllability and involutivity of the systems and the calculation of input and state transformation.

Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System

The article deals with the issue of mathematical modelling of nonholonomic system. The introductory part of article contains theory about different approaches of mathematical modelling that we used. Further we explained the basic principle of Ackerman steered car-like system. Then it contains the determination of mathematical model for Ackerman steered car-like system where we consider ideal source of velocity. In the last part we compared and showed individual advantages and disadvantages of approaches of mathematical modelling.

Impact of dynamics of the frame on the performance of the positioning servosystem

The article deals with the issue of the impact of parasitic dynamics caused by vibroisolation on the performance of the positioning system in low- and high-frequency regions. Based on the simplified structure of the positioning system and passive vibroisolation system with one degree of freedom, a new structure of the positioning system is created taking into account the impact of vibroisolation system. By utilizing this structure of the positioning system based on the simulation, the impact of the ratio of the weight of the actuator to the frame weight and the damping factor on the performance of the positing system in low- and high-frequency regions is demonstrated.

Dynamic Analysis of Lathe Machine Tool

The thesis presents a theoretical analysis of the task, while practical knowledge of selected parts of the dynamics is used to solve individual involved transfers. Further for the two types of programs includes detailed diagrams that is rev/min (rpm) increasing and rev/min reduction. The centre lathe is the object of exploring. Specifically transmission parts such as shafts, gears and pulleys then it is electric drive device, and finally driven parts such as spindle and chuck. Analyze of angular velocities, moments of inertia, kinetic energy, performance and labor of each part of the kit is performed using reduction method, and the system is reduced to a first member, which is an electric motor. We have developed integration of individual gears for the machining modes. Specifically for conventional turning 2800 rpm and for winding springs 14 rpm. In technical practice it is not possible to measure two same results of performance parameters, for reason of passive resistance.