DESIGN AND FABRICATION OF RUNNING CHEETAH MECHANICAL TOY USING FOUR-BAR LINKAGE

Four-bar is the simplest planar 1-DOF closed loop linkage. It has been studied for centuries for its versatility and simplicity. In this paper a novel design method to obtain a four-bar linkage given a path and its endpoints will be presented. This method will then be applied to a case study of making a model that produces a specified movement based on reference animation. The mechanism obtained had an average root-mean-square of position error of roughly 14.3 pixels for front leg and 25.9 pixels for hind leg. This number is quite small compared to the perimeter of the traced path, which are 530 pixels and 617 pixels for front leg and hind leg respectively. A prototype model of the designed mechanism was fabricated to verify its manufacturing viability and to confirm the correctness of the path generated.

APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS

This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.

ANALYSIS OF INDUCTIVE SENSOR FIXING CLAMP IN RAILWAY APPLICATIONS

This paper provides static, modal and dynamic analysis of the assembly consisting of fixing clamp, inductive sensor, two fixing bolts and frame applied on railway stock. All the necessary tests to perform this analysis are in accordance with the standard EN 61373: 2010 or the Slovak standard STN EN 61373: 2011. In the next part, a simulation of the tests required for the dynamic analysis of the modelled assembly is performed. For each analysis, von Misses stress is evaluated and then compared to the yield strength of used material. Finally, this work provides a proposal for new design solutions of the fixing clamp based on the obtained results. All analyses were performed in ANSYS Workbench programme using finite element method.

COMPUTER SIMULATION USING MSC ADAMS

The goal of the presented paper is to compile a two-link model of manipulator and control the movement of the basket mounted at its end-effector. Authors focus on using MSC Adams in simulation of the motion of a two-link manipulator model. Attention is paid to kinematic and dynamic analysis of the manipulator, its modelling and control. The capability of MSC Adams Control Toolkit is used to design a control system which keeps the basket of the endeffector in horizontal position. Finally, the results obtained by computer simulation of the model are evaluated.

VALUE OF DEFORMATION ENERGY DEPENDING ON DEFORMATION OF FLEXIBLE PNEUMATIC ELEMENT

The article describes a flexible element used in flexible pneumatic couplings. These elements are manufactured by various manufacturers and are mostly made of rubber. Each element, depending on the number of bellows and diameter, has permissible stroke values. It is necessary to expend a certain amount of energy to compress and expand them. The article examines the amount of deformation energy required to compress and expand this elastic element.

EMBEDDED SYSTEMS – CONTROL OF POWER SUBSYSTEMS

The main role of embedded system is to control the product behaviour or control of outside world. Microcontroller as embedded system obtains information through the sensors and makes adequate impact to outside world after sensor data processing. The microcontroller impact is realized through the actuators which convert the electrical energy (or different type of energy) to mechanical work. These processes are executed because of fulfil customer requirements. Microcontrollers as signal controllers work only with low power signals. This paper discusses the possibilities and application of controlling the power subsystems via using the embedded systems.

SIGNAL NOISE REDUCTION AND FILTERING

The paper deals with noise reduction in signal. Normally measured signal very frequently includes noise and data processing includes the activities for its reduction. The best choice is to reduce the source of noise, but often it is not possible to reduce noise source. Filtering is another activity, which helps us to reduce noise in measured signal. Data processing can be executed only with filtered signal.