Inverse modeling of the stewart foot

The Stewart's leg is used today in the majority of parallel robotic systems, such as the Stewart platform, but also in many other types of mechanisms and kinematic chains, in order to operate them or to transmit motion. A special character in the study of robots is the study of inverse kinematics, with the help of which the map of the motor kinematic parameters necessary to obtain the trajectories imposed on the effector can be made. For this reason, in the proposed mechanism, we will present reverse kinematic modeling in this paper. The kinematic output parameters, ie the parameters of the foot and practically of the end effector, ie those of the point marked with T, will be determined for initiating the working algorithm with the help of logical functions, "If log(ical)", with the observation that here they play the role of input parameters; it is positioned as already specified in the inverse kinematics when the output is considered as input and the input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad.

Positional modeling of the 2T6R robot mechanism

The positional modeling of the 2T6R robot mechanism is done for inverse kinematics, i.e. when the imposed positions of the end effector T, imposed, belonging to the final element 3, are known and the necessary positions and speeds of the two input motors, the two leading elements, are determined, 1 and 6. It is proposed to solve a simple algorithm in the program MathCad 2000, which uses for initiation the logical function If Log. The kinematic output parameters, i.e. the parameters of the foot and practically of the final effector, i.e. those of the point marked with T, will be determined for initiating the working algorithm using the logical functions, "If log (ical)", with the observation that here plays the role of parameters input; is positioned as already specified in reverse kinematics when the output is considered as input and input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad 2000.

MATHEMATICAL MODELS OF HOMOGENEOUS ELEMENTS MAX, MIN BASED ON TWO-DIGIT LOGIC FUNCTIONS

Examples of using two-digit logical functions to describe basic operations of multi-valued logic are discussed.

A mechanical metamaterial with reprogrammable logical functions

Embedding mechanical logic into soft robotics, microelectromechanical systems (MEMS), and robotic materials can greatly improve their functional capacity. However, such logical functions are usually pre-programmed and can hardly be altered during in-life service, limiting their applications under varying working conditions. Here, we propose a reprogrammable mechanological metamaterial (ReMM). Logical computing is achieved by imposing sequential excitations. The system can be initialized and reprogrammed via selectively imposing and releasing the excitations. Realization of universal combinatorial logic and sequential logic (memory) is demonstrated experimentally and numerically. The fabrication scalability of the system is also discussed. We expect the ReMM can serve as a platform for constructing reusable and multifunctional mechanical systems with strong computation and information processing capability.

Perancangan Game RPG (Role Playing Game) “Nusantara Darkness Rises”

Games are generally used for entertainment, so by playing games the players will feel happy. Games can also be used as learning media with the concept of learning while playing. Each game has a set of logical functions and rules that guide the course of the game, as well as targets that must be achieved in each level. Each game has different logic and target functions. RPG(Role Playing Game) is one of the most popular game genres. In RPG games, it allows players to take on the roles of multiple imaginary characters and collaborate to complete in-game challenges. This study aims to create a game with the RPG genre with the theme of Indonesian culture and history. The tools used for designing this game are RPG Maker Mv, which is a special software for creating RPG genre games. In the design stage, the author uses the ADDIE method with stages consisting of Analysis, Design, Development, Implementation, and Evaluation. The result of this research is an RPG game entitled "Nusantara Darkness Risess". It is hoped that with this game, it can attract people's interest to study Indonesian history and culture

OPTIMISATION OF THE ALGORITHM FOR CONTROLLING A ROBOTIC TURNING OPERATION

This article provides an analysis of the logical functions of industrial robot control with elements of artificial intelligence. The initial conditions of the production situation are supplemented with components that make it possible to significantly simplify the mathematical apparatus of the control program. As a result of minimisation, the conditions for the implementation of the control task are clear for understanding. The derived expressions are convenient to use not only in production conditions, but also in the educational process. This task is included in the laboratory cycle on the discipline “Process and system management in mechanical engineering”.

A New Method of the Logical Functions Minimization in the Polynomial Set-Theoretical Format. «Handshaking» Procedure

A new minimization method of logic functions of n variables in polynomial set-theoretical format has been considered. The method based on the so-called “handshaking” procedure. This procedure reflects the iterative polynomial extension of two conjuncterms of different ranks, the Hamming distance between which can be arbitrary. The advantages of the suggested method are illustrated by the examples.