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Industrial robot in fine art: can an industrial robot draw a binary image?

IOP Conference Series: Materials Science and Engineering 2018年第5期444卷

作者： S Timoftei Machine Building Engineering Design and Robotics Department Technical University of Cluj-Napoca 103-105 Muncii Avenue Cluj-Napoca Romania

This research paper investigates, through a case study, which should be the basic requirements such as an industrial robot to make drawings based on data provided from image processing. An algorithm for image processing and data sorting to be further used by the robot for lines drawing is presented in this paper. Using LabVIEW, image is converted into a binary format. Researches from this paper indicate that, due to the specific requirements needed to program linear and circular robot motions, as well as due to the specific procedure to define robot tool centre point (TCP), information embedded in the binary format necessitate transformation into points with relative coordinates to a reference frame of the drawing plane such as a robot to be able to make drawings. A conversion approach from the binary matrix to the robot drawing matrix is proposed in the paper, together with the necessary settings of the robot motions.

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Experimental study of surface roughness in the case of turning of free-cutting steel AUT20 (22S20)

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Academic Journal of Manufacturing Engineering 2017年第3期15卷 49-54页

作者： Nedezki, Claudiu Mihai Trif, Adrian Bugnar, Florin Deteşan, Ovidiu Lǎzǎrescu, Lucian Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania Technical University of Cluj-Napoca Department of Manufacturing Engineering Romania Technical University of Cluj-Napoca Faculty of Machine Building Bd. Muncii nr.103-105 Romania Technical University of Cluj-Napoca Department of Mechanical Systems Engineering Romania

A steel part (AUT20 / 22S20) was turned with various cutting parameters for different cylindrical sections and the roughness was measured for each section with the Hommel T500 tester. On the other hand, purely geometric calculations of surface roughness were used. The measured values were compared with the calculated values. All calculations were done in MS Excel which helped us obtain the graphs of cutting parameter influence on roughness. The interpretation of the graphs led to drawing important conclusions regarding the cutting parameters of the above-mentioned steel.

关键词： Surface roughness

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Strength estimation of teeth reinforced with different types of post systems

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Engineering Transactions 2017年第1期65卷 147-154页

作者： Ryniewicz, Wojciech Ryniewicz, Anna Maria Madej, Tomasz Wiśniewska, Grażyna Department of Dental Prosthodontics Dental Institute Faculty of Medicine Medical College Jagiellonian University Montelupich 4 Kraków31-104 Poland Department of Machine Design and Technology Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Kraków30-059 Poland

Posts are permanent, single-tooth and periodontal restorations. During chewing, forces make teeth with posts to undergo complex stresses. The aim of this work is to compare and estimate the upper medial incisors restored with custom posts and prefabricated composite posts reinforced with fibreglass using the finite element method. Modelling and numerical analyses provide the opportunity to evaluate the reconstruction of teeth using custom and prefabricated posts. © 2017, Polish Academy of Sciences. All rights reserved.

关键词： Finite element method

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Particularities of the turning process for the titanium alloy Ti6Al4V

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Academic Journal of Manufacturing Engineering 2017年第2期15卷 51-64页

作者： Trif, Adrian Nedezki, Claudiu Mihai Bugnar, Florin Technical University of Cluj-Napoca Department of Manufacturing Engineering Bd. Muncii nr.103-105 Romania Technical University of Cluj-Napoca Department of Design Engineering and Robotics Bd. Muncii nr.103-105 Romania Technical University of Cluj-Napoca Faculty of Machine Building Bd. Muncii nr.103-105 Romania

The purpose of this paper is to analyze the influence of the temperature in case of dry turning of an titanium alloy - Ti6Al4V. The measured temperature in turning process was compared with the temperature obtained af... 详细信息

关键词： Computer software

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Towards Intelligent Autonomous Sorting of Unclassified Nuclear Wastes

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Procedia Manufacturing 2017年 11卷 389-396页

作者： Basso, Andrea Hlaváč, Václav Hůlka, Jiří Jilich, Michael Krsek, Pavel Malassiotis, Sotiris Molfino, Rezia Smutný, Vladimír Wagner, Libor Zoppi, Matteo Ansaldo NES Ltd Spring Road Ettingshall WV4 6JX Wolverhampton United Kingdom Czech Technical University Czech Institute of Informatics Robotics and Cybernetics 166 66 Prague 6 Zikova 4 Czech Republic National Radiation Protection Institute 140 00 Prague 4 28 Bartoškova Czech Republic Universita degli Studi Di Genova Department of Mechanics and Machine Design Via Opera Pia 15A Genova 16145 Italy Center for Research and Technology Hellas Information Technologies Institute 6th km Xarilaou - Thermi Thessaloniki 57001 Greece

Sorting of old and mixed nuclear waste is an essential process in nuclear decommissioning operations. The main bottleneck is manual picking and separation of the materials using remotely operated arms, which is slow and error prone especially with small items. Automation of the process is therefore desirable. In the framework of the newly funded European project ECHORD++, experiment RadioRoSo, a pilot robotic cell is being developed and validated against industrial requirements on a range of sorting tasks. Industrial robots, custom gripper, vision feedback and new manipulation skills will be developed. This paper presents application context, cell layout and sorting approach. © 2017

关键词： machine vision nuclear waste sorting robotic manipulation

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design of pneumatic proportional flow valve type 5/3

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IOP Conference Series: Materials Science and Engineering 2017年第1期233卷

作者： P A Laski D S Pietrala J Zwierzchowski K Czarnogorski Department of Automation and Robotics Faculty of Mechatronics and Machine Design Aleja Tysiaclecia Panstwa Polskiego 7 25-314 Kielce Poland

In this paper the 5/3-way pneumatic, proportional flow valve was designed and made. Stepper linear actuator was used to move the spool. The valve is controlled by the controlled based on a AVR microcontroller. Virtual model of the valve was created in CAD. The real element was made based on a standard 5/3-way manually actuated valve with hand lever, which was dismounted and replaced by linear stepper motor. All the elements was mounted in a specially made housing. The controller consists of microcontroller Atmega16, integrated circuit L293D, display, two potentiometers, three LEDs and six buttons. Series of research was also conducted. Simulation research were performed using CFD by the Flow Simulation addition to SolidWorks. During the experiments the valve characteristics of flow and pressure was determined.

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Control system of a mobile robot for coal mines

Control system of a mobile robot for coal mines

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International Carpathian Control Conference (ICCC)

作者： Ján Babjak Petr Novák Tomáš Kot Wojciech Moczulski Marek Adamczyk Wawrzyniec Panfil Department of Robotics VŠB-Technical University Ostrava Ostrava Czech Republic Institute of Fundamentals of Machine Design Silesian University of Technology Gliwice Poland

This paper describes progress in design of main control system (MCS) of the mobile robot TELERESCUER for inspecting coal mine areas affected by catastrophic events. At the introduction is described the whole project background and the next chapter deal with design of control system and communication between individual subsystems. The following part of this paper describes decision about migration to ROS operating system from the initial design based on Windows operation system. The last chapter focuses on design and testing of the serial optical communication module.

关键词： Robot sensing systems Control systems Mobile robots Coal mining Testing Optical fibers

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The kinematic model of 5r articulated industrial robot used in welding processes

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Academic Journal of Manufacturing Engineering 2016年第4期14卷 19-24页

作者： Bugnar, Florin Trif, Adrian Nedezki, Claudiu Mihai Technical University of Cluj-Napoca Faculty of Machine Building Bd. Muncii103-105 Romania Technical University of Cluj-Napoca Department of Manufacturing Engineering Romania Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania

The paper presents the determination of the kinematic model equations for the 5R-type articulated industrial robot that can be applied in welding processes. The method used to perform this modeling is the iterative method and it takes the advantages of the previously determined equations of the geometric model. The operational kinematic parameters (linear and angular velocities and accelerations) are eventually determined. They represent the equations of the direct kinematic model.

关键词： Industrial robots

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Linearized PID control in a nonlinear model of an active hydromagnetic journal bearing

Linearized PID control in a nonlinear model of an active hyd...

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作者： Farmakopoulos, Michael G Thanou, Michalis D Nikolakopoulos, Pantelis G Papadopoulos, Chris A Tzes, Anthony P Machine Design Laboratory Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Automation and Robotics Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

A proportional-integral-derivative (PID) control model of an active hydromagnetic journal bearing (AHJB) is presented here and its design guidelines are explicitly described. The nonlinear rotor equations of motion, is introduced. Then, the linearization of these equations in the bearing specific equilibrium point is performed and presented along with the appropriate PID gains. Consequentially, the linear equation is transformed via Laplace method and the control model of the AHJB is finally developed. The multiphysics module of Ansys is used to calculate the forces that the hydrodynamic lubrication applies to the rotor, in every position of the rotor, during its movement inside the bearing. This has been done, in order not to have linear equations of the hydrodynamic forces, but the real, nonlinear equations. The nonlinear equations are used for the electromagnetic forces too. The Matlab software is used to simulate the components that the AHJB is consisted of. The P, I, and D gains are the obtained results of this simulations, which are produced via robust control method, in single-input-single-output tool module. Finally, the Simulink module of Matlab is energized to check the control characteristics of the developed AHJB system, taking into account the nonlinear equations of motion of the system, in combination with the rotor unbalance and gyroscopic effects and the saturation of the coils. The rotor response, the overshoot, the rotor center vibration are controlled using the above produced P, I, and D gains. Several plots are constructed and presented, such as the rotor orbits, to show the possibility of the AHJB control. © 2014 IMechE.

关键词： Simulink

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The influence of number and values of ratios in stepped gearbox on mileage fuel consumption in NEDC test and real traffic

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IOP Conference Series: Materials Science and Engineering 2016年第1期148卷

作者： P Bera D Wędrychowicz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Machine Design and Technology Cracow Poland

The article presents the influence of number and values of ratios in stepped gearbox on mileage fuel consumption in a city passenger car. The simulations were conducted for a particular vehicle characterized by its mass, body shape, size of tires and equipped with a combustion engine for which the characteristic of fuel consumption in dynamic states was already designated on the basis of engine test bed measurements. Several designs of transmission with different number of gears and their ratios were used in virtual simulations of road traffic, particularly in the NEDC test, to calculate mileage fuel consumption. This allows for a quantitative assessment of transmission parameters in terms of both vehicle economy and dynamic properties. Also, based on obtained results, recommendations for the selection of a particular vehicle for a specific type of exploitation have been formulated.

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