Štefan Václav

Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

Assembly System Planning in Automotive Industry with Use of Discrete Event Simulation

As automotive assembly systems become more complex every year, use of computer aided technology in planning stage is common. Every change in assembly system or assembly line must be validated by software engineering department so the transition in changes are smooth and without unexpected problems. Assembly systems especially in automotive industry must be easy to adjust for new production. Companies in automotive industry, especially manufacturers of final cars have production lines for several versions of one car or even for different car models. This means that production systems are complex and must be balanced for work with different set ups. Time and work flow are essential things in production lines in automotive industry. That is the reason for software solutions like Tecnomatix. Implementation of new assembly parameters are calculated by software. Looking for bottlenecks or errors in assembly processes is easier in well-made virtual models of production lines and it also faster solution. In this article will be mentioned software solutions for this kind of processes. Basic work of software will be demonstrated in example made in Tecnomatix Plant Simulate and Tecnomatix Process Simulate from company SIEMENS. Examples made in these software packages will be aimed on automotive assembly respectively production lines. Also, simulation of production robotic workplaces will be mentioned in example with use of Tecnomatix Process Simulate. As welding robotic stations in automotive production systems are essentials of whole production. Robotic stations are high investment workplaces, so it is only understanding that simulation of such robotic workplaces is needed. Use of discrete simulation software for production simulation purposes is bigger every year and it will continue in future as well. Future of assembly planning will be discussed towards the end of article.

Racionalization of Robotic Workstation in Welding Industry

Abstract The growing pressure to increase productivity and production quality is one of the reasons for the growing interest in using automated production facilities, such as robots. In many enterprises, automated lines are introduced that partially or completely replace the human factor. The automotive industry was one of the first to start using automated robots and still is the one of the largest users of these devices. Flexibility and affordability enabled robots to become part of the industry’s automation strategy. In order to achieve the desired goals, it is necessary to modernize and automate workplaces or to create completely new concepts of grouping of machines and industrial robots. An increasing trend in the use of robotic technology has caused several factors that have changed significantly in the recent years in favor of automated workplaces. The main changes made by industrial robots to the fore are improving their technical parameters, high reliability, affordability, reduced operating and maintenance costs.

The Main Research Directions in CA Assembly Analysis and Assembly Workstation Design

Abstract The article deals with main research direction in the field of assembly process analysis and assembly workstation design. The basic applied methods and tool in the mentioned research direction are a part of digital factory concept. The paper presents the application of knowledge system for DFA analysis, computer aided assembly, workstation design and application of virtual reality.

Production Systems Planning and Databases in Assembly

Abstract Paper deals with the design of assembly workplaces and systems. The aim is to provide a solution to the problems in the field of the assembly systems design and planning. One of the goals is to design a solution to the design of assembly workplaces. The focus of the research is therefore a proposal of the design methodology of the assembly workplaces and systems, and thus the development of integrated methodological procedure and tools. The introductory part is devoted to the current state of assembly workplaces, assembly systems and their planning. On the basis of the theoretical knowledge, an analysis of the assembly systems and workplaces is carried out according to the pre-selected criteria. It is necessary to develop the classification of assembly systems and workplaces in terms of product or assembled entities. Individual sections of the paper are devoted to the design of databases for the needs of designing the assembly workstations and systems.

Application of optimization algorithms for robot systems designing

The article presents the design and application of multi-software platform for solving kinematic synthesis of robot manipulator systems. It also presents a modern theoretical and application approach for modelling coupled mechanical systems, which include mobile robots. Due to high requirements for accuracy, efficiency, reliability and life cycle of technical equipment, several parameters ensuring optimal operating parameters need to be taken into account while dealing with the design. This is the reason for linking computational models to optimization algorithms that allows us to find the appropriate design parameters of analysed mechanical system, mechanisms, including mobile robots mostly by iterative way. The commercial working interface of the program ADAMS and open architecture of MATLAB programming language enable to share common data while dealing with model simulations in parallel. Both of them were used while designing and implementing the algorithm for the evaluation and optimization of parameters of technical equipment from the point of view of selected properties. While working on the task of the spatial mechanism of the six-member robot manipulator system, the algorithm solving the optimal parameters was created by applying the selected optimization techniques of the program MATLAB. Presented algorithm involves the creation of a map operating positions, which is further linked to the solution of the motion of interest points in the robotic system following a prescribed trajectory. This requires the geometry optimization of the selected members of the spatial robotic system in order to achieve such parameters so that the trajectory of the interest point of the output member would precisely match with the prescribed trajectory. It is important to note that these types of tasks create wider space for solving the assignments dealing with the development and application of technical equipment like mobile robots and their outputs that are linked to the needs of the practice.

NUMERICAL ANALYSIS OF THE STRESS-STRAIN STATE OF A ROPE STRAND WITH LINEAR CONTACT UNDER TENSION AND TORSION LOADING CONDITIONS

The paper presents the results of a numerical analysis of the stress-strain state of a rope strand with linear contact under tension and torsion loading conditions. Calculations are carried out using the ANSYS software package. Different approaches to calculation of the stress-strain state of ropes are reviewed, and their advantages and deficiencies are considered. The analysis of the obtained results leads us to the conclusion that the proposed method can be used in engineering calculations.

Investigation of Stress-Strain State of the Workpiece at Gauge Burnishing of its Holes

The application of finite-element method when investigating the stress-strain state of a workpiece exposed to the gauge burnishing under the conditions of nonzero friction is considered. The mathematical model of the workpiece surface-plastic deformation during burnishing, algorithm and computational results of stresses and deformations are given.

Part as an Object of Assembly

Abstract We deal with static prearranged couples in practice quite often. Constructers are using them a lot to improve rigidity of product. Some examples are mentioned in this article. The paper also discusses the models of kinematic couples in plane and models of kinematic couples in space. Spatial movable and non-movable couples are commented on as well. The article particularly focuses on application of statics in the assembly in spatial couples (movable, non-movable) for intentional allowance fix which leads to a non-problem assembly. With fix like this, it is possible to manufacture selected parts in series while assuring non-problem assembly.

Visualisation in Assembly

Abstract The article is aimed at visualisation types in assembly. Broad usage of artificial visualisation in assembly is held down mainly for economic reasons. One of the possible solutions is usage of the presented light visualisation method. This simple method of light visualisation is convenient when vibration orientation is not working properly and artificial visualisation is economically ineffective. Described principle of orientation is a technical solution of the author.