The dynamic modeling and simulation of spatial multibody systems with lubricated spherical joints is the main purpose of the present work. When the spherical clearance joint is modeled as dry contact;i.e., when there ...
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ISBN:
(纸本)9789048196883
The dynamic modeling and simulation of spatial multibody systems with lubricated spherical joints is the main purpose of the present work. When the spherical clearance joint is modeled as dry contact;i.e., when there is no lubricant between the mechanical elements which constitute the joint, a body-to-body (typically metal-to-metal) occurs. The joint reaction forces in this case are evaluated through a Hertzian-based contact law. The presence of a fluid lubricant avoids the direct metal-to-metal contact. In this situation, the squeeze film action, due to the relative approaching motion between the mechanical joint elements, is considered utilizing the lubrication theory associated with the spherical bearings. In both cases, the intra-joint reaction forces are evaluated as functions of the geometrical, kinematical and physical characteristics of the spherical joint. These forces are then incorporated into a standard formulation of the system's governing equations of motion as generalized external forces. A spatial four bar mechanism that includes a spherical clearance joint is considered here as example.
The paper presents a calculation method of the forces and the moments that operate in the rotation and translation couplings from the serial industrial robots structure. Through using some methods and calculation prog...
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ISBN:
(纸本)9789048196883
The paper presents a calculation method of the forces and the moments that operate in the rotation and translation couplings from the serial industrial robots structure. Through using some methods and calculation programs, the forces and moments, used for dimensioning the mechanisms and driving motors from couplings, can be accurately determined. The theoretical relations and the calculations programs also take into consideration the friction forces acting in couplings and the working cyclogram.
science and engineering teaching are a challenge in the modern world, and in particular in Romania. We present the steps we have taken in the last decade and in particular in the last five years, to improve mechanisms...
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ISBN:
(纸本)9789048196883
science and engineering teaching are a challenge in the modern world, and in particular in Romania. We present the steps we have taken in the last decade and in particular in the last five years, to improve mechanisms teaching. We have gradually passed in this process from classical to hands-on-experiments and to research-oriented activities, in order to provide the proper background for each student to find personal motivation and to develop both as a specialist and as a more fulfilled person. Several student projects we have coordinated are pointed out, and our vision on a modern school of engineering is compared to and confirmed by some of the realities of the American academic system.
In order to improve the absolute positioning abilities of the 3-PRR planar parallel robot MICABO(es), its kinematic model is adapted to take the predictable motion of flexure hinges into consideration. This is accompl...
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ISBN:
(纸本)9789048196883
In order to improve the absolute positioning abilities of the 3-PRR planar parallel robot MICABO(es), its kinematic model is adapted to take the predictable motion of flexure hinges into consideration. This is accomplished by replacing the idealized rotations within the kinematic model with a complexer rotational model. A set of kinematic equations is derived for the robot which is solved using an iterative method. A method for calibrating these equations is then explained and a simulation is used to show its success implementation.
In this paper a new mini-system with piezoelectric actuation is presented. The piezoelectric actuation principle it is described and also an original mini-system is designed and analyzed. An experimental prototype of ...
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ISBN:
(纸本)9789048196883
In this paper a new mini-system with piezoelectric actuation is presented. The piezoelectric actuation principle it is described and also an original mini-system is designed and analyzed. An experimental prototype of the compliant mini-mechanism is developed, in compact design, which amplifies the input displacement, with facile connection with the piezoelectric actuator. The piezoelectric actuator is commanded with different frequencies impulse signals.
In the paper the first developed voice-controlled parallel robot PARAMIS (PARAllel robot for Minimally Invasive Surgery) in Romania, used for laparoscope. camera positioning in the minimally invasive surgery, is prese...
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ISBN:
(纸本)9789048196883
In the paper the first developed voice-controlled parallel robot PARAMIS (PARAllel robot for Minimally Invasive Surgery) in Romania, used for laparoscope. camera positioning in the minimally invasive surgery, is presented. The development of the structure focused on the achievement of a simple, lightweight, cheap solution, able to work alone or as part of a multi arm robotic system. The adopted solution for the voice commands interface is presented. Some experimental results are illustrated pointing out the behavior of the robot in a surgical procedure.
This paper deals with the optimal dimensional design of Delta robot. The aim is to obtain a manipulator with maximum dexterity and minimum projected area of the occupied volume on the base plane. Two different optimiz...
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ISBN:
(纸本)9789048196883
This paper deals with the optimal dimensional design of Delta robot. The aim is to obtain a manipulator with maximum dexterity and minimum projected area of the occupied volume on the base plane. Two different optimization strategies, which cope with assembly difficulties, have been applied to solve this problem. Comparing optimized Delta robot with and without area reduction, results show an important reduction of area maintaining an acceptable dexterity.
This paper collects the most relevant results on singularities and workspace of the Tsai manipulator, a parallel manipulator that provides its mobile platform with three degree of freedom of pure translation with resp...
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ISBN:
(纸本)9789048196883
This paper collects the most relevant results on singularities and workspace of the Tsai manipulator, a parallel manipulator that provides its mobile platform with three degree of freedom of pure translation with respect to its fixed base. The paper investigates the influence of some geometric parameters specifically the orientation of the base/platform revolute axes and the locations of its legs on the structure of the manipulator and consequently on the manipulator performances, mainly in terms of singularity loci and workspace size. New promising manipulator geometries are presented and some manufacturing solutions are proposed for leg collision avoidance.
The paper presents the modeling and simulation of the dual-axis tracking system of azimuthal type used for a photovoltaic (PV) platform. The study is approached in mechatronic concept, by integrating the mechanical de...
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ISBN:
(纸本)9789048196883
The paper presents the modeling and simulation of the dual-axis tracking system of azimuthal type used for a photovoltaic (PV) platform. The study is approached in mechatronic concept, by integrating the mechanical device and the control system at the virtual prototype level, during the entire design process. The mechanical device model of the tracking mechanism is developed as multi-body system by using the MBS environment ADAMS, while the DFC EASY5 is used for modeling the control system. The key-word for design is the energetic efficiency of the azimuthally tracked PV platform, which is evaluated in different intervals during the year. Through the optimal design of the tracking mechanism and of the control system (the controller and the control law), we obtained good values for the energetic efficiency throughout the year (the average value is around 34%), which justify the viability - utility of the tracking system.
Study of the history of higher technical education, of its first stage in particular has attracted a lot of interest over recent years. One of the main constituent parts at this stage of academic training of engineers...
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ISBN:
(纸本)9789048196883
Study of the history of higher technical education, of its first stage in particular has attracted a lot of interest over recent years. One of the main constituent parts at this stage of academic training of engineers was collecting models of mechanisms and machines. Every technical school and university had such a collection. In this article we shall observe models developed and made in France in the XIXth century and collected in BMSTU. Short descriptions of certain models and background information of the constructors are given.
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