Z Monica

Modelling of robotic work cells using agent based-approach

In the case of modern manufacturing systems the requirements, both according the scope and according characteristics of technical procedures are dynamically changing. This results in production system organization inability to keep up with changes in a market demand. Accordingly, there is a need for new design methods, characterized, on the one hand with a high efficiency and on the other with the adequate level of the generated organizational solutions. One of the tools that could be used for this purpose is the concept of agent systems. These systems are the tools of artificial intelligence. They allow assigning to agents the proper domains of procedures and knowledge so that they represent in a self-organizing system of an agent environment, components of a real system. The agent-based system for modelling robotic work cell should be designed taking into consideration many limitations considered with the characteristic of this production unit. It is possible to distinguish some grouped of structural components that constitute such a system. This confirms the structural complexity of a work cell as a specific production system. So it is necessary to develop agents depicting various aspects of the work cell structure. The main groups of agents that are used to model a robotic work cell should at least include next pattern representatives: machine tool agents, auxiliary equipment agents, robots agents, transport equipment agents, organizational agents as well as data and knowledge bases agents. In this way it is possible to create the holarchy of the agent-based system.

Analysis and Optimization of the Piston System Using CAD/CAE Engineering Environment

This article presents the approach to the problem considered with optimizing the stress distribution and functioning of a crankshaft system of a piston engine. One of possible methods of investigating such a problem is simulation of work of the analyzed mechanical system. This approach allows observing the work of a modeled system and improving the designed system. In this work was applied the PLM Siemens NX software. This advanced CAD/CAE/CAM environment let to model any complex system of a technical mean. Using this environment it is possible to model and analyze new solution, which allow significantly optimizing the functioning conditions of a piston engine. One of such a solution is the MDI system presented in the work.

Experimental determination of dynamic parameters of an industrial robot

In an industry increasingly used are industrial robots. Commonly used are two basic methods of programming, on-line programming and off-line programming. In both cases, the programming consists in getting to the selected points record this position, and set the order of movement of the robot, and the introduction of logical tests. Such a program is easy to write, and it is suitable for most industrial applications. Especially when the process is known, respectively slow and unchanging. In this case, the program is being prepared for a universal model of the robot with the appropriate geometry and are checked only collisions. Is not taken into account the dynamics of the robot and how it will really behave while in motion. For this reason, the robot programmed to be tested at a reduced speed, which is raised gradually to the final value. Depending on the complexity of the move and the proximity of the elements it takes a lot of time. It is easy to notice that the robot at different speeds have different trajectories and behaves differently.

Modelling of industrial robot in LabView Robotics

Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. Its enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

Analysis of the position of robotic cell components and its impact on energy consumption by robot

Location elements in the robot cell is very important must provide reasonable access to technological points. This is a basic condition, but it is possible to shift these elements worth considering over other criteria. One of them can be energy consumption. This is an economic parameter and in most cases its improvement make shorten the working time an industrial robot. In most conventional mechanical systems you do not need to consume power in standby mode only for a move. Robot because of its construction, even if it does not move has enabled engines and is ready to move. In this case, the servo speed is zero. During this stop servo squeak. Low-speed motors cause the engine torque is reduced and increases power consumption. In larger robots are installed brakes that when the robot does not move mechanically hold the position. Off the robot has enabled brakes and remembers the position servo drives. Brakes must be released when the robot wants to move and drives hold the position.

Analysis of design characteristics of a V-type support using an advanced engineering environment

Modern mining support, for the entire period of their use, is the important part of the mining complex, which includes all the devices in the excavation during his normal use. Therefore, during the design of the support, it is an important task to choose the shape and to select the dimensions of a support as well as its strength characteristics. According to the rules, the design process of a support must take into account, inter alia, the type and the dimensions of the expected means of transport, the number and size of pipelines, and the type of additional equipment used excavation area. The support design must ensure the functionality of the excavation process and job security, while maintaining the economic viability of the entire project. Among others it should ensure the selection of a support for specific natural conditions. It is also important to take into consideration the economic characteristics of the project. The article presents an algorithm of integrative approach and its formalized description in the form of integration the areas of different construction characteristics optimization of a V-type mining support. The paper includes the example of its application for developing the construction of this support. In the paper is also described the results of the characteristics analysis and changings that were introduced afterwards. The support models are prepared in the computer environment of the CAD class (Siemens NX PLM). Also the analyses were conducted in this design, graphical environment.

Application of the advanced engineering environment for optimization energy consumption in designed vehicles

Nowadays a key issue is to reduce the energy consumption of road vehicles. In particular solution one could find different strategies of energy optimization. The most popular but not sophisticated is so called eco-driving. In this strategy emphasized is particular behavior of drivers. In more sophisticated solution behavior of drivers is supported by control system measuring driving parameters and suggesting proper operation of the driver. The other strategy is concerned with application of different engineering solutions that aid optimization the process of energy consumption. Such systems take into consideration different parameters measured in real time and next take proper action according to procedures loaded to the control computer of a vehicle. The third strategy bases on optimization of the designed vehicle taking into account especially main sub-systems of a technical mean. In this approach the optimal level of energy consumption by a vehicle is obtained by synergetic results of individual optimization of particular constructional sub-systems of a vehicle. It is possible to distinguish three main sub-systems: the structural one the drive one and the control one. In the case of the structural sub-system optimization of the energy consumption level is related with the optimization or the weight parameter and optimization the aerodynamic parameter. The result is optimized body of a vehicle. Regarding the drive sub-system the optimization of the energy consumption level is related with the fuel or power consumption using the previously elaborated physical models. Finally the optimization of the control sub-system consists in determining optimal control parameters.

Optimizing a four-props support using the integrative design approach

Modern approach to the design process of technical means requires taking into consideration the issues concerning the integration of different sources of data and knowledge, and various methodologies of design. Thus, the importance of integrative approach is growing. The integration itself could be understood as a link between these different methodological solutions. Another problem is the issue concerning the optimization of technical means because of the range of design requirements. The presented issues are the basis for design approach that uses integrative approach as the basis for constructional optimization of designed technical mean. It bases firstly on the concept of integration three main subsystems of a technical mean: structural one, drive one and control one. Secondly it includes the integration of three aspects of a construction: its geometrical characteristics, its material characteristics and its assembly characteristics. One of areas of utilization of the proposed integrative approach to designing process is elaborating the construction of mining mechanized supports. There different systems of mining support characterizing by different sets of advantages and disadvantages. The importance of the design process is considered with the working conditions of mining supports that are closely linked with geological characteristics of mined beds. A mining mechanized support could be treated as the logical union of three mentioned constructional subsystems. The structural one includes among others canopy, rear shield and foot pieces. The drive one includes hydraulic props and its equipment. Finally the control one include the system of hydraulic valves ant their parameters.

Modelling and simulation tooling controlled by the PLC in the robot cell in NX

Many CAD programs allows the simulation of machines. Often, before creating the real machine can simulate the operation and see how it works. In these cases, set values of the forces acting on an element or displacement of the element. It is very easy for simple machines. Programming in this way PLC controlled system is very complicated because have to save the the entire PLC logic in the simulation program. It would be good simply connect the PLC or PLC simulation program to a CAD program enabling the simulation. There are many possibilities for sending information between the PLC and CAD. PLC to control most of the actuators using the digital outputs 0 or 1. Actuators often have two states but the transition from one to the other takes some time. By setting additional parameters may be the behaviour of the simulation as in real life. Setting these parameters is usually held in the testing phase before running it means that the system is assembled and can be damaged. Often this is the only opportunity to verify the PLC program. It is worth noting that such testing and running takes place on the production line and needs to be stopped.

Modeling of a V-type mining support in an advanced engineering environment

Designing technical means using advanced computer systems requires the change in approaches to specific tasks carried out in this process. The solution of this problem is an integrative approach, which allows linking different operating ranges, various tools and complicated sets of requirements into a single operating design system. The elements of this integrative approach is the concept of splitting a technical mean system into three sub-system components. The first is structural sub-system containing solutions and their attributes regarding the structural concept of a designed system. The second is drive sub-system containing solutions of drive systems along with the parameters of their operation. Finally the last sub-system contains information relating to the control system and its settings. Systems attributes include such design features as the geometrical characteristics, material characteristics and assembly characteristics. The subject of the integrated design process is a mechanized mining support. As a part of the project the construction system of a mechanized mining support was divided on the three sub-systems. The structural subsystem includes a canopy, a burst shield and foot parts. Whereas the drive sub-system comprises includes the system of hydraulic props and hydraulic cylinders responsible for the functioning of the support. In the example, presented in the paper, is shown the system of hydraulic props where they are arranged in a V-system. These indicated two sub-systems form the structure of the support. It is complemented by the control sub-system basing on the use of control valves and separator valves and an operator control panel.