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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2011年 6546 LNCS卷 VI页

作者： Page, Rex Horváth, Zoltán Zsók, Viktória University of Oklahoma School of Computer Science 110 West Boyd Street Norman OK 73019 United States Eötvös Loránd University Faculty of Informatics Department of Programming Languages and Compilers Pazmany Peter setany 1/C 1117 Budpest Hungary

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Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2011年 6546 LNCS卷

作者： Page, Rex Horváth, Zoltán Zsók, Viktória University of Oklahoma School of Computer Science 110 West Boyd Street NormanOK73019 United States Eötvös Loránd University Faculty of Informatics Department of Programming Languages and Compilers Pázmány Péter sétány 1/C Budpest1117 Hungary

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics): Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2010年 6299 LNCS卷

作者： Horváth, Zoltán Plasmeijer, Rinus Zsók, Viktória Eötvös Loránd University Faculty of Informatics Department of Programming Languages and Compilers Pazmany Peter Setany 1/C 1117 Budapest Hungary Radboud University Computer and Information Sciences Institute Heyendaalseweg 135 6525AJ Nijmegen Netherlands

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On kinematics of a parallel robot used for the minimally invasive surgery

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PAMM 2008年第1期7卷

作者： N. Plitea D. Pisla c. Vaida Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676

One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures. The paper presents the kinematics of an innovative parallel structure for the manipulation of surgical instruments in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The equations, which model the kinematics are pointed out for this robot based on its mathematically determined functional parameters. The results of the kinematical modeling are systematically presented and lead to the facile solving of the parallel structure. Some simulation results have been presented. (© 2008 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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Graphical simulation of a new concept of low sized surgical parallel robot for camera guidance in minimally invasive surgery

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PAMM 2008年第1期7卷

作者： c. Vaida D. Pisla N. Plitea Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Phone: +00 40 264 401655 Fax: +00 40 264 415676

Robotic systems have been developed in every field where a further progress was constricted due to the human limitations in terms of speed, precision, fatigue, repeatability, strength, safety etc. One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures which aim the treatment of a disease with minimum damage to healthy tissue and suffering for the patient [1], [2]. The paper presents a complex simulation system used for the study of the characteristics of a new low sized parallel robot used for minimally invasive surgery (MIS). (© 2008 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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New development of parallel robots and microrobots with three, four and five degrees of freedom

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PAMM 2008年第1期7卷

作者： N. Plitea A. Vidrean D. Pisla A. Pisla c. Vaida Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Department for Machine-Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401762 Fax: +00 40 264 430461

All over the world it can be noticed that product miniaturisation is a central theme in product development for different application areas. In robotics scientific research, one of the most important approaches is concerning the increase of the positioning accuracy by the use of parallel structures [3], [4], [5]. In this paper some variants of parallel robots and micro-robots with three, four and five degrees of freedom are presented, which are used for manipulation within high precision assembling processes. The corresponding kinematic models have been developed. (© 2008 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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On-pump modular systemfor automated adjustment and control for axial piston pumps

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PAMM 2008年第1期7卷

作者： L. Vaida L. Nascutiu c. Vaida D. Pisla T. Itul A. Pisla Department of Thermal Machines and Equipment TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401685 Fax: +00 40 264 415490 Department of Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Phone: +00 40 264 401758 Fax: +00 40 264 415676 Department of Machine-Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401762 Fax: +00 40 264 430461

Axial piston pumps are the most widely used pumps in hydraulic actuation systems. Their technical characteristics make them the best option for most applications starting from industrial machine tools, up to mobile equipments. Thus, the optimization of their functional parameters and their control within the system is of great importance [1], [4]. The paper presents the construction of a modular measuring and control head (developed by the authors) mounted directly on the pump which ensures the automated achievement of any type of control: flow, pressure, power or their combinations. (© 2008 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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A Model Predictive control Algorithm Applied To Non-Linear Processes

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PAMM 2007年第1期6卷

作者： Radu Balan Vistrian Maties Olimpiu Hancu Sergiu Stan Technical University of Cluj-Napoca Department of Mechatronics C. Daicoviciu no. 15 400020 Cluj-Napoca Romania TU of Cluj-Napoca Dpt. of Mechanics and Computer Programming C. Daicoviciu no. 15 400020 Cluj-Napoca Romania

Model predictive control (MPc) is an optimization-based approach that has been successfully applied to a wide variety of control problems. In most of nonlinear strategies, the controllers are based on linear models with fixed parameters so that the vast body of linear control theory can be applied. Other solutions include the use of a nonlinear analytical model, combinations of linear empirical models, etc. This paper presents an MPc algorithm which uses on-line simulation and rule-based control. (© 2006 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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Optimal Design of 2 DOF Parallel Kinematics Machines

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PAMM 2007年第1期6卷

作者： Sergiu-Dan Stan Vistrian Maties Radu Balan TU of Cluj-Napoca Dept. of Mechanics and Computer Programming C. Daicoviciu no. 15 400020 Cluj-Napoca Romania Technical University of Cluj-Napoca Department of Mechatronics C. Daicoviciu no. 15 400020 Cluj-Napoca Romania

The aim of this paper is to show the usefulness of the multicriteria approach to optimize the Parallel Kinematic Machines (PKM). Variations of the kinematic performances index remain not constant throughout workspace. Aiming to deal at the same time with multiple criteria in optimal design of PKM, we have developed a Multi-Objective Genetic Algorithm (MOGA) using concepts of Pareto optimality and niching techniques. The obtained results have shown that the use of MOGA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker. (© 2006 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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New Algorithm for the Identification and Analysis of the Parallel Robots Singularities

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PAMM 2005年第1期5卷

作者： Doina Pisla Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania

The paper presents a new algorithm for the analysis of the kinematic singularities for different parallel structures using a testing stand. The derived expressions are used to superimpose graphical representations of the manipulators singularity and workspace. The analytical description of the singularity loci can be successfully used for the optimisation of the kinematic design. The derived algorithm for singularities analysis has been integrated in an already developed parallel robots simulation system, which provides an easy to read graphical representation of the singularities that enables their isolation within the working space and their avoiding in the path programming activity. (© 2005 WILEY-VcH Verlag GmbH & co. KGaA, Weinheim)

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