Design of a test environment for planning and interaction with virtual production processes

Rising complexity of systems combined with multi-disciplinary development and manufacturing processes necessitates new approaches of early validation of intermediate digital process and system prototypes. To develop and test these approaches, the modular digital cube test center was build. Usage of different Visualization Modules such as Powerwall, CAVE or Head Mounted Display allows immersive interaction with the prototypes. Combined with Haptic Interaction Modules from one axis assembly device to a hexapod simulator up to a full freedom kinematic portal and usage of different simulation modules of vehicle design, multi-kinematic, manufacturing and process-simulation allows early virtual prototypes validation in multiple use cases

Holonomic Implementation of Three Wheels Omnidirectional Mobile Robot using DC Motors

In the Indonesian Wheeled Football Robot Contest (KRSBI) wheeled division, the robot that is made must be able to complete a predetermined task, one of which is the robot for chasing the ball and catching it. Holonomic is one of the methods used in navigating the omnidirectional movement of mobile robot applications. Because the movement is designed without changing the position of the robot in the direction of the facing, the omnidirectional wheels are used which has the ability to move freely in two directions. The mobile robot has three omnidirectional wheels and DC motors each used for movement. DC motors controlled by EMS 30A H-Bridge as a driver and Arduino Mega 2560 as the main microcontroller. Holonomic and inverse kinematic calculations are conducted to control the mobile robot movement of x, y, and ω toward angular velocity and direction of s1, s2, and s3 for each wheel. The length of the wheel axis to the middle of the body of robot is 160 mm. In this study, a robot was implemented on the robot movement for moving forward, backward, sideways, and diagonal direction. Based on the data evaluation, it is determined that an angular error of 2.84% exists in the movement of the omnidirectional robot at a velocity of 0.256 m/s to 1.403 m/s

Diseño de una arquitectura enbebida para el cálculo cinemático inverso de una extremidad robótica hexápoda de tres grados de libertad mediante el algoritmo CORDIC EN FPGA

Este trabajo de investigación presenta el diseño de una arquitectura embebida para FPGA basada en CORDIC para un cálculo cinemático inverso de una extremidad robótica hexápoda de tres grados de libertad (3-DOF). Esta propuesta de diseño de arquitectura se aborda primero mediante un análisis de ecuaciones de cinemática inversa de una extremidad hexápoda de 3-DOF y como éstas son adaptadas para diseñar un esquema de arquitectura basada en operaciones de CORDIC. Después de esto, se analiza un área de trabajo de la extremidad del hexápodo de 3-DOF para obtener los requisitos de convergencia de CORDIC. Con respecto a esto, se diseñó una entidad CORDIC de punto flotante de 32 bits de alta precisión que alcanzó los requisitos de convergencia y precisión. Finalmente, se obtiene una comparación de los resultados obtenidos por la propuesta realizada y la realización de los cálculos cinemáticos en software, obteniéndose las ecuaciones de ángulos de articulación que ilustran la velocidad de procesamiento del FPGA, la precisión y los requerimientos de hardware.This research work presents a CORDIC-based FPGA realization for a three degree of free (3-DOF) hexapod leg inverse kinematics calculation. This proposal architecture design is approached first by a 3-DOF hexapod leg inverse kinematics equations analysis and how are these adaptations to design an architecture scheme based on CORDIC operations. After that, a 3-DOF hexapod leg work area is analyzed to get the CORDIC convergence requirements. Regarding to this, an iterative, high-accuracy, 32-bit floating point CORDIC entity was designed which achieved the convergence and accuracy requirements. Finally, a comparison of the results obtained by the proposal made and the realization of the kinematic calculations in software are obtained, obtaining the angles equations illustrating the precision, hardware requirements and processing speed.Tesi

A methodology for the Lower Limb Robotic Rehabilitation system

The overall goal of this thesis is to develop a new functional lower limb robot-assisted rehabilitation system for people with a paretic lower limb. A unilateral rehabilitation method is investigated, where the robot acts as an assistive device to provide the impaired leg therapeutic training through simulating the kinematics and dynamics of the ankle and lower leg movements. Foot trajectories of healthy subjects and post-stroke patients were recorded by a dedicated optical motion tracking system in a clinical gait measurement laboratory. A prototype 6 degrees of freedom parallel robot was initially built in order to verify capability of achieving singularity-free foot trajectories of healthy subjects in various exercises. This was then followed by building and testing another larger parallel robot to investigate the real-sized foot trajectories of patients. The overall results verify the designed robot’s capability in successfully tracking foot trajectories during different exercises. The thesis finally proposes a system of bilateral rehabilitation based on the concept of self-learning, where a passive parallel mechanism follows and records motion signatures of the patient’s healthy leg, and an active parallel mechanism provides motion for the impaired leg based on the kinematic mapping of the motion produced by the passive mechanism

Selected Papers from IEEE ICASI 2019

The 5th IEEE International Conference on Applied System Innovation 2019 (IEEE ICASI 2019, https://2019.icasi-conf.net/), which was held in Fukuoka, Japan, on 11–15 April, 2019, provided a unified communication platform for a wide range of topics. This Special Issue entitled “Selected Papers from IEEE ICASI 2019” collected nine excellent papers presented on the applied sciences topic during the conference. Mechanical engineering and design innovations are academic and practical engineering fields that involve systematic technological materialization through scientific principles and engineering designs. Technological innovation by mechanical engineering includes information technology (IT)-based intelligent mechanical systems, mechanics and design innovations, and applied materials in nanoscience and nanotechnology. These new technologies that implant intelligence in machine systems represent an interdisciplinary area that combines conventional mechanical technology and new IT. The main goal of this Special Issue is to provide new scientific knowledge relevant to IT-based intelligent mechanical systems, mechanics and design innovations, and applied materials in nanoscience and nanotechnology