Peter Tuleja

Procedure Selection Bearing Reducer TwinSpin for Robotic Arm

The current mechanical engineering applications require the use of increasingly larger share precision reducers and special mechatronics units with a high degree of integration. High precision gearboxes is used for such applications with low backlash and high torsional stiffness (harmonic, cycloidal or planetary). Bearing reducers (cycloidal gear) meet the requirements of small built-in space in the implementation a high-precision change of transfers. Bearing reducers TwinSpin from company Spinea accurately fulfil all of these conflicting requirements.

Design of Service Robot for Rescue Operations

Rescue service robots find their application mainly in high-risk environments and situations such as fires, floods, earthquakes, rescue of humans, or in different kinds of geographic and operational disaster. Rescue service robots in the area are considered as expensive experiment. Among the most important requirements of a service robot is the mobility in heterogeneous environments. This paper describes the method of design and simulation of leg-wheel chassis for service robot.

Modeling and control of two-link snake:

This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotion system—two-link snake. We created the mathematical model of this example, simulated this system, and represented other tools of geometric mechanics.

Robot ABB IRB 360 Applications in the Learning Process

Teaching and working with robot ABB IRB 360 FlexPicker, located in laboratory of industrial robotics, we need to modify the air distribution. The aim is to make students work with robots and air distribution.

Conceptual design of a leg-wheel chassis for rescue operations:

The article describes the concept of a locomotive construction for a robot moving along an urbanized or unstructured natural terrain. The most suitable variant was the development of a hybrid leg-wheel chassis for a service robot. It has only been confirmed that the proposed design solution for the leg-wheel hybrid chassis can largely determine activities, requiring a high degree of mobility in different application environments and, at the same time, a high efficiency motion speed over a relatively flat terrain. The geometry for the middle robot service category was processed to verify mobility. The proposed geometry has been optimized for the obstacles defined by the rescuers’ requirements. The result of the simulation is the mobility verification and the recommendation for the prototype development of the service robot.

Developing new behavior strategies of robot soccer team SjF TUKE Robotics: Category MiroSot

There are too many types of robotic soccer approaches at present. SjF TUKE Robotics, who won robot soccer world tournament for year 2010 in category MiroSot, is a team with multiagent system approach. They have one main agent (master) and five agent players, represented by robots. There is a point of view, in the article, for code programmer how to create new behavior strategies by creating a new code for master. There is a methodology how to prepare and create it following some rules.

Possibility of 3D Scanning Application in the Robotized Manufacturing Processes

Contribution describes selecting and applying appropriate deployment of 3D scanners for the implementation of tasks in the realization projects. Analyzes the methods of digitizing and indexing as well as the possibility of their use for handling tasks in robotics. Well it describes the selection of a suitable 3D scanner to solve specific project.

Analysis of Power Relations in the Design of Effector for Unilateral Gripping with Active Vacuum Suction Cup

This contribution present the process of projection of griping effector with active suction cups. It focuses on possible complication by solutions and estimates sequence of necessary calculations so that the designed gripper guarantied secure fixation of manipulated objects in time of handling work of robot.

Problem of Biomechanical Grippers Identifications Et’s Properties

The specific group grippers are biomechanical grippers, whose shape and construction are analogical to biological model (human hand). These constructions are arranged into category of “intelligent grippers” recently. The analysis of gripping the objects by biomechanical grippers and consequently setting of the model identification of related characteristics and parameter are possible to base on the principles shown. It is possible to secure reliable and safe clamping of manipulated objects in the period of gripper design. This paper gives knowledge from the solution of system problems of manipulated object gripping in the realisation of elements “gripper – manipulated object application requirements” in the period of gripper design.

Unilateral Gripping Mechanism Effectors

In thetechnical practice it is impossible to use conventional methods of gripping, i.e. to clamp the manipulated object while handling it. The use of the end gripping effector mechanism with unilateral gripping offers a certain solution. This article gives an overview of unilateral gripping’s possibilities in connection with applied physical principle of used gripping element. The article also provides a methodological framework for selecting an appropriate option for gripping for a particular application.