Rudolf Jánoš

The View to the Current State of Robotics

The article deal about the development in the field of robotic research. The introduction suggests and summarizes actual development in robotics, which is heavily focused on the service and humanoid field in many applications. Next section of contribution is dealed to the development and is referred to its fundamental properties, which has current industrial robots.

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.

Modular Welding Fixtures for Robotic Cells

This paper describes the proposal of welding fixtures which achieves pre-arrangement of individual parts of fixture based on suitable modules. Also is focused on methodological process of their design using modularity principle and reconfigurability. Describe procedure of designing fixture with emphasis to specific requirements for welding fixtures in robotic welding. Take advantages of simple substitution of individual modules welding fixtures by database compatible with modules in 3D environment. Optimization and control of collision status is realized in simulation environment ABB Robot Studio.

Manufacturing Systems Suitable for Globalized Market

The paper clarifies the reasons leading to the creation of a new class of manufacturing system from a global perspective, focusing on the market environment. It describes the needs for reconfigurable manufacturing systems, which allows coping with market requirements and changes quickly and costing effectively. The article provides the approach to the design of the reconfigurable manufacturing systems from system, machine and control level point of view.

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.

Principles of Formation of Flexible Manufacturing Systems

The article presents points necessary for the production re-prophilation into the flexible one through the generation of so called flexible manufacturing cells. Mentioned are the reasons and effects which are brought by the flexible production. In general, the key to the generation of the flexible production is the group technology based on the principle of the material flow analysis. The variants of the possible solutions based on the material flows confirm that the problem of the flexible manufacturing cells generation is not an easy one and unambiguous either. But considering only this one criterion is not sufficient for the practice because it does not consider for example the number of the pieces. Therefore the present article in the principle points at the application of the multiplied criteria about the part or machine, based on which more specifically stated is the cell profile, as number of machines, type of machines, intercellular transfers and so on.

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.

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.

Proposal of Control Algorithm for Electromotoric Swivel Walker

Swivel walkers was base only on a mechanical structure that was physically demanding especially for people with complete paralysis of the lower limbs. This article describes the algorithm for motion of an electromotoric modules that are used to flip the rocking plate up to full-step cycle. Classic swivel walker is not designed for people with higher degrees of disability. Just a design of this modules is an innovative and modern solution of swivel walker.