Slawomir Blasiak

A fuzzy logic controller for the positioning control of an electro-pneumatic servo-drive

The main objective of our research project was to design an electro-pneumatic servo-drive positioning control system, which involved applying a fuzzy logic controller. A proportional–derivative fuzzy logic controller was selected to perform position changeover, follow-up, and teach/playback control. These methods of control are essential in automation equipment, such as pick-and-place machines, manipulators, and robots. Compared to the smart positioning controller SPC200, the proportional–derivative fuzzy logic controller demonstrated superior accuracy required for industrial pneumatic manipulators.

Design of a 3-DOF tripod electro-pneumatic parallel manipulator

The objective of the research project was to design and construct a 3DOF tripod-type electro-pneumatic parallel manipulator that could be used for pick-and-place tasks in municipal waste recycling facilities. The fundamental requirement was that the manipulator be simple and cheap to construct, operate and maintain as well as robust and resistant to damage. The forward and inverse kinematic problem as well as working space and strength analysis issues were used for construction of manipulator. The prototype was tested using different payloads and velocities to establish its positioning accuracy and repeatability. The robot behavior was controlled with a commercially available industrial controller, which was reported insufficient for point-to-point operations required during solid waste handling. Conclusions have been drawn on how to optimize the robot structure and control. Conceptual design and analysis of the 3-UPRR parallel manipulator are performed.Kinematics analysis are carried out for the proposed 3-DOF robot.Electro-pneumatic parallel manipulator.

Determining the Static Characteristics of Pneumatic Muscles

This paper discusses a test stand and methods used to determine static—isobaric, isotonic and isometric—characteristics of two pneumatic muscles: a Festo Fluidic Muscle MAS and a Shadow Air Muscle. The data obtained from the experiments were applied to analytically determine the equations of static characteristics of the pneumatic muscles. The equations were then employed to obtain simulated static characteristics. The experimental characteristics were compared with the simulated ones.