scholarly journals Experimental Research Regarding The Motion Capacity Of A Robotic Arm

2015 ◽  
Vol 67 (1) ◽  
pp. 25-30
Author(s):  
Violeta Cristina Dumitru
Keyword(s):  
Experimental Research ◽  
Robotic Arm ◽  
Programming Environment ◽  
Dynamic Parameters ◽  
Functional Parameters ◽  
Mechanical Structure ◽  
Spatial Movement ◽  
Force Displacement

Abstract This paper refers to the development of necessary experiments which obtained dynamic parameters (force, displacement) for a modular mechanism with multiple vertebrae. This mechanism performs functions of inspection and intervention in small spaces. Mechanical structure allows functional parameters to achieve precise movements to an imposed target. Will be analyzed the dynamic of the mechanisms using simulation instruments DimamicaRobot.tst under TestPoint programming environment and the elasticity of the tension cables. It will be changes on the mechanism so that spatial movement of the robotic arm is optimal.

scholarly journals Analysis of elevators dynamic parameters with solution of summary data acquisition during experimental research

2021 ◽  
Vol 27 (4) ◽  
pp. 141-148
Author(s):  
Radomir Đokić ◽  
Jovan Vladić ◽  
Dragan Živanić ◽  
Tanasije Jojić ◽  
Vesna Jovanović ◽  
...  
Keyword(s):  
Experimental Research ◽  
Dynamic Behaviour ◽  
Building Construction ◽  
Complex Task ◽  
Dynamic Parameters ◽  
Standard Procedures ◽  
Unique Method ◽  
Basic Parameters ◽  
Stiffness And Damping ◽  
Summary Data

Modelling of the dynamic behaviour of elevators with high lifting velocities (contemporary elevators in building construction and mine elevators) is a complex task and an important step in the design process and creating conditions for safe and reliable exploitation of these machines. Due to high heights and lifting velocities, the standard procedures for dynamic exploitation are not adequate. With the purpose of identifying the basic parameters of the dynamic model (stiffness and damping), a unique method was applied, based on experimental measures for a concrete elevator. Due to the verification of this procedure, the experiment was conducted on a mine elevator in RTB Bor, Serbia. Simulations of the dynamic behaviour of an empty and loaded cage are presented using the obtained computational-experimental results

Contributions to the Constructive Optimization of an Orientation Module in the Structure of the TRR Industrial Robot

2012 ◽  
Vol 245 ◽  
pp. 267-273
Author(s):  
Silviu Mihai Petrişor ◽  
Ghiţă Bârsan
Keyword(s):  
Optimum Design ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Dynamic Modelling ◽  
3D Modelling ◽  
Robotic Arm ◽  
Lagrangian Formalism ◽  
Mechanical Structure ◽  
Constructive Version ◽  
Selection Of

The author of the present paper proposes a constructive version, selected on the grounds of dynamic and organological equations, which enables an optimum design and operation of the (MO Sil) orientation module that possesses two degrees of freedom, to which the prehension device is attached, in the mechanical structure of the TRR-type serial modular industrial robot. This paper aims at highlighting the dynamic modelling of the mechanical structure of the TRR-type robot by using Lagrangian formalism, with aspects regarding the MO Sil module’s organological construction as well as with the 3D modelling of the orientation module in the mechanical structure of the robotic arm. Another important issue that this paper deals with is the mathematical-organological algorithm used for the selection of the servomotors actuating the orientation movable system in the mechanical structure of the robot.

Simulation of 8-Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm Using MATLAB/ADAMS Co-Simulation Environment

2015 ◽  
Vol 799-800 ◽  
pp. 1054-1057 ◽  
Author(s):  
Jayabalan Sudharsan ◽  
L. Karunamoorthy
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Learning Algorithm ◽  
Dynamic Control ◽  
Research Work ◽  
Robotic Arm ◽  
Programming Environment ◽  
Simulation Environment ◽  
Simulation Results ◽  
Matlab Programming

This research work presents a dynamic control of a 8 – Degrees of freedom (DOF) based bio-inspired humanoid robotic arm which was simulated using MATLAB / Adams Co-Simulation environment. The robotic arm has been modeled using PRO-E and its invoked in ADAMS and Controlled by MATLAB programming environment. With the help of the simulation results, parameters like torque, position, etc of the system have been analyzed for various trajectories or path of the robot and the results have been discussed in detail. This research work is part of a real time humanoid robot project titled – RALA (Robot based on Autonomous Learning Algorithm).

scholarly journals EXPERIMENTAL RESEARCH OF DYNAMIC PARAMETERS OF AUTO-OSCILLATING HYDRAULIC DRIVE OF AN ASYMMETRIC ACTION

2020 ◽  
Vol 8 (1) ◽  
pp. 35-39
Author(s):  
I. Yu. Kilunin ◽  
◽  
V. N. Sorokin ◽  
Keyword(s):  
Experimental Research ◽  
Hydraulic Drive ◽  
Dynamic Parameters

В статье приводится описание автоколебательного гидравлического привода несимметричного действия и стенда для его экспериментальных исследований, позволяющего определить основные динамические параметры исследуемого привода. В работе представлены характеристики привода при работе под нагрузкой и на холостом ходу.

scholarly journals Research Concerning the Use of Polynomial Functions in the Study of the Conventional Sucker Rod Pumping Units

2019 ◽  
Vol 70 (4) ◽  
pp. 1223-1227
Author(s):  
Dorin Badoiu
Keyword(s):  
Computer Program ◽  
Polynomial Functions ◽  
Programming Environment ◽  
Dynamic Parameters ◽  
Structural Elements ◽  
Functional Optimization ◽  
Precise Form ◽  
Proper Functioning ◽  
Sucker Rod ◽  
Pumping Units

The analysis of the conventional sucker rod pumping units and especially their dynamics is laborious and requires a large amount of calculations due to the constructive complexity of the component structural elements. Therefore, expressing in a simplified but sufficiently precise form the various cinematic and dynamic parameters that characterize the proper functioning of the pumping units is extremely useful in analyzing the possibilities of their functional optimization. In the paper are presented a series of results concerning the expressing of some cinematic and dynamic parameters using polynomial functions in the case of the mechanism of a C-640D-305-120 pumping unit. The simulations have been performed with a computer program developed by the author using Maple programming environment. Experimental records processing was performed with the program Total Well Management.

A Low Cost Pneumatronic Unit for Pipes Inspections

2010 ◽  
Author(s):  
Enrico Ravina
Keyword(s):  
Experimental Research ◽  
Power Supply ◽  
Pipe Wall ◽  
Low Cost ◽  
Programmable Logic ◽  
Variable Geometry ◽  
Research Activity ◽  
Mechanical Structure ◽  
Pneumatic Power ◽  
Fluidic Muscle

The paper shows the results of a theoretical and experimental research activity oriented to the design and the realization of a of a low cost pneumatronic prototype, proposed for tasks of pipes and ducts inspection. Geometries and sizes of ducts are significantly different and for their inspection very flexible units are needed. Different researchers propose several solutions: the present proposal is specifically oriented to an automated pneumatic low cost unit. The prototype is conceived to emulate the grub’s motion: variable geometry components are deformed under the action of pneumatic power supply, following a programmable logic actuation. A fluidic muscle is used to generate the motion and two deformable air chambers are arranged at the ends of the muscle in order to assure the anchorage to the internal pipe wall. The automatic phases of the motion are managed by an external micro-PLC, allowing flexible and bi-directional motions. The unit is equipped with a micro-camera and can be also equipped with micro grippers and micro mechanical tools. The design and the optimization of the prototype’s mechanical structure is discussed and related to the mechatronic approach applied to perform the cyclical movement.

Modular System for Testing the Performance of Poly-Articulate Robotic Structures

2014 ◽  
Vol 493 ◽  
pp. 414-419
Author(s):  
Violeta Dumitru
Keyword(s):  
Monitoring System ◽  
Sensory System ◽  
Robotic Arm ◽  
Modular System ◽  
Automatic Calibration ◽  
Signal Acquisition ◽  
Testing Program ◽  
Actuation Redundancy ◽  
Mechanical Structure

This paper presents a modular system for testing the performance of a poly-articulate robotic arm (snake like) with the push-pull actuation redundancy. Mechanical structure contains modules that allow testing of robots with different structures of the robotic arm (discrete hyper-redundant, continuous). Sensory system can be configured depending on the product and testing program adapting the sensors of position, velocity, time and vibrations. The monitoring system developed allows the automatic calibration of actuators and sensors, data and signal acquisition.

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