Tomasz Klepka

Kinematic Design of Parallel Delta System in Matlab

The paper presents the problem of modelling the parallel kinematic delta system using specialized software Simmechanics constituting the extension of the Matlab environment. Parameterized model of the parallel delta robot was developed and kinematic analysis was performed. The results of the model was used to correction of design and real construction. Designed robot is intended to direct a tool according to the program recorded by machine commands (G-code).

The Concept of Robotic Station for Measurement of the Friction Force between Fibre-Optic Cable and Duct

The interaction of an optotelecommunication cable and casing depends on numerous factors e.g. the type of cable, its structure, dimensions, as well as applied lubricants and sliding layers [8]. In addition, the course of the cable, velocity of installation and its maximum force also play a role in the interaction of the tribological pair. The paper outlines the idea and operation of a robotized testing station for evaluation of sliding friction. The station enables cables’ friction to be determined in relation to the length of contact between the cable and the casing.

The Influence of the Shape of a Polymer Wall on Selected Mechanical Properties

This paper presents results of personal research concerning designing a new construction in the form of axially symmetric ducts, characterized by a complex construction of the carrying wall. These ducts were designed so that in the carrying wall they have a specified number of micro canals, in which additional cables can be placed. This paper presents research results of selected mechanical properties of the products, the values of force required to achieve a deformation of 3%, useful to calculating the peripheral stiffness of the construction. The research results allowed to determine the range of change of thinning possibility of the wall of the product in relation to the volume of the material and the mathematical function depicting the outline of the duct in cross-section.

Finite Element Modeling of an Ultrasonic Horn Integrating the Tool for Micro-Electrical Discharge Machining

The paper deals with a strategy to obtain a complex conical ultrasonic horn, which integrates the tool for micro-drilling through ̵̵̼̳̹̳̱̼̈́͂˰̴̸̷̵̹̳̱̓͂˰̸̷̱̳̹̹̽̾̾˰˸ڌ̝̔̕˻̥̣˹˰̵̴̲̱̓˰̿̾˰̖̹̾ite Element Method (FEM) modeling. This approach comprises more than 20 stages, starting with preliminary determination of a basic profile stepped horn through mathematical relations. The next stages are based on Comsol Multiphysics FEM modeling, changing gradually different horn constructive elements and integrating the tool and their clamping parts. The entry data for horn geometry determination were the dimensions and own frequency of transducer subassembly, joining ultrasonic horn. Finally, the CAD file of horn was transferred to CAM file and CNC machined. Horn real own frequency obtained was very close to the result provided by FEM modeling.

On Correlation of Pulses and Tool Elongations at Micro-Electrical Discharge Machining Aided by Ultrasonics

The paper deals with Finite Element Method (FEM) of thermal and mechanical-hydraulic components of material removal mechanism at micro-electrical discharge machining aided by ultrasonics (μEDM+US), due to EDM and US contribution. The dimensions of craters produced by single discharges under μEDM+US conditions are determined with different pulse durations in order to establish a machining strategy with correlation of pulses and tool elongations.