Ioan Vuscan

Dynamics of Hybrid Robot Structures Using Variational Principles

The purpose of this paper is to determine the dynamic equations for a hybrid robot structure which consists of a mobile robot named PatrolBot and a 2TR robot serial structure. The motion equations will be determined on the basis of the new concepts in advanced mechanics, such as Matrix Exponentials Algorithm and Variation Principles in Analytical Mechanics, concerning the kinetic and acceleration energy part of important scientific researches deployed by the main author.

Evaluation of Overall Efficiency of Devices with Worm Gear

Overall efficiency represents an important qualitative property for devices used in manufacturing technology. This paper presents the mathematical modeling of calculating worm gear overall efficiency. The studied worm gear types goes into numerous manufacturing devices component. Mathematical model validation was experimentally performed on a tool sharpening device with a helicoidally profile. The analytical calculated results were closed to experimentally determined results, which partially validates the model proposed in the paper.

The Geometry Equations for Multiple Kinematic Structures Using Direct Geometry

In this paper are presented two kinematic structures able to move/rotate along/around tree axis each simultaneous. These two structures are restricted on a common fix bed and have the possibility perform a translational motion first and then to rotate along or around each axis. The equation used to describe the position and orientation of the first structure in relation to the second are then presented. Furthermore a reduction of the general case is made to prove the general mathematical model on a structure similar to a five axis turning and milling machine.