Gabriel Kost

Integration of a Virtual 3D Model of a Robot Manipulator with its Tangible Model (Phantom)

The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.

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.

Simulation of the Stewart Platform Carried out Using the Siemens NX and NI LabVIEW Programs

The paper presents the implementations of the control algorithm of a virtual system (Stewart platform) in the CAD/CAE system (Siemens NX) and in the NI LabVIEW supervisory and control system. The combination of both systems enables the virtual simulation and presentation of the results in relation to the chosen in the work virtual model of the Stewart platform. The virtual model of the Stewart platform with the imposed constraints and mobility limitations was built in the Siemens NX CAD/CAE system. Each of the modeled elements is based on the real components of the car simulator prepared for the persons with mobility impairments. The chosen model of a Stewart platform is a system with six degrees of freedom that is often used to build various types of simulators (e.g. flight, car). Using the NI LabVIEW software, a mathematical model of the Stewart platform was built and inverse kinematics task was implemented in relation to the model of the platform. The created mathematical model that describes the behavior of the Stewart platform was used to determine the inputs to the control system of platform actuators.

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.

Geometric Analysis of Motions Exercised by the Stewart Platform

The study outlines the geometric analysis of motions executed by the Stewart platform and operated in the environment of a simulator for driving learning to be used by disabled people. The analysis was carried out on the basis of results obtained from the resolved kinematic problem for the inversed platform.

The distributed agent-based approach in the e-manufacturing environment

The deficiency of a coherent flow of information from a production department causes unplanned downtime and failures of machines and their equipment, which in turn results in production planning process based on incorrect and out-of-date information. All of these factors entail, as the consequence, the additional difficulties associated with the process of decision-making. They concern, among other, the coordination of components of a distributed system and providing the access to the required information, thereby generating unnecessary costs. The use of agent technology significantly speeds up the flow of information within the virtual enterprise. This paper includes the proposal of a multi-agent approach for the integration of processes within the virtual enterprise concept. The presented concept was elaborated to investigate the possible solutions of the ways of transmission of information in the production system taking into account the self-organization of constituent components. Thus it implicated the linking of the concept of multi-agent system with the system of managing the production information, based on the idea of e-manufacturing. The paper presents resulting scheme that should be the base for elaborating an informatics model of the target virtual system. The computer system itself is intended to be developed next.

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.

The Simulator for Teaching how to Drive a Car for People with Disabilities

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.

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].