Fixed centrode of the compliant isosceles slider-crank mechanism

Compliant mechanisms gain some or all of their mobility from the relative flexibility of their joints rather than from rigid-body joints only. Compliant mechanisms can provide many benefits in the solution of design problems: they have less wear, weight, noise and backlash than their rigid-body counterparts. They can be manufactured from one piece of material, and therefore they are suitable to be applied in micromechanics. On the other hand, nonlinearities introduced by the large deflection of elastic segments further complicate the analysis of compliant mechanisms. This paper takes into consideration the isosceles slider–crank mechanism and its compliant counterpart mechanism, being developed on the basis of the rigid-body mechanism. The design of the compliant slider-crank mechanism with notch joints (circular flexure hinges) has been shown in this paper. The methods of determining of the "fixed centrode" has been also presented for the compliant isosceles slider–crank mechanism. The aim of the paper is to suggest a method of determining of the "fixed centrode" of the compliant mechanism.Nachgiebige Mechanismen bekommen ihre Beweglichkeit von ihre elastischen Gelenken. Sie können aus einem Stück hergestellt werden und deswegen sind sie geeignet für die Anwendungen in der Mikromechanik. Die nachgiebige Mechanismen haben viele Vorteile. Sie sind leicht, spielfrei, reibungsarm, verschleißarm (es gibt nur innere Reibung) und geräuscharm. Anderseits, große nichlineare Verformungen von elastischen Segmenten führen die Schwierigkeiten in Analyseverfahren von nachgiebiger Mechanismen ein. Dieser Beitrag befasst sich mit der gleichschenkligen Schubkurbel und der nachgiebigen Kopie von gleichschenkligen Schubkurbel. In diesem Beitrag wird die nachgiebige gleichschenklige Schubkurbel mit Kerbgelenken entworfen und die "Rastpolbahn" des geführten Segments ermittelt. Das Ziel des Beitrags ist die Vorgehenssweise für die Bestimmung der "Rastpolbahn" bei den nachgiebigen Mechanismen vorzuschlagen

Aplikacije i adaptivna neuro-fuzzy logička procjena svojstva vodljivosti silikonske gume

The paper summarizes the results of investigations on the conductive silicone rubber as strain sensor and presents a segment of the project for developing the new principle of a universal gripper with adaptable shape morphing surfaces. An experimental investigation of the sensors subjected to different time-dependent strain histories is presented. To investigate the electrical properties, the resistance of silicone was measured during the mechanical tests. An adaptive neuro-fuzzy inference system (ANFIS) was used to approximate the correlation between these measured features of the material and to predict its unknown future behavior. ANFIS has unlimited approximation power to match any nonlinear function arbitrarily well on compact set and to predict a chaotic time series.U radu su sažeti rezultati istraživanja vodljive silikonske gume kao senzora naprezanja i predstavlja jedan segment projekta za razvoj novog principa univerzalnog stezanja s prilagodljivim oblikom površine. Prikazano je eksperimentalno istraživanje senzora podvrgnutog različitim naprezanjima ovisnim o vremenu. Kako bi se istražila električna svojstva, izmjerena je otpornost silikona tijekom mehaničkih testova. Adaptivni neuro-fuzzy logički sustav (ANFIS) korišten je za približno utvrđivanje korelacije između mjerenih obilježja tih materijala, te za predviđanje nepoznatog budućeg ponašanja materijala. ANFIS ima neograničenu moć zadovoljavajuće točnog procjenjivanja bilo koje nelinearne funkcije na kompaktnom skupu i sposobnost predviđanja kaotičnih vremenskih serija

Modelling of a compliant Scott-Russel mechanism with small length flexural pivots

This paper takes into consideration the Scott-Russel mechanism (the isosceles slider–crank mechanism) and its compliant counterpart mechanism, being developed on the basis of the rigid-body mechanism. Various types of this compliant Scott-Russel mechanism with small length flexural pivots and various geometry parameters of these joints, as well as various rigidity ratios of the relative rigid and relative elastic sections of the mechanism, are researched. The aim of the paper is to suggest optimal parameters, as well as the motion range of this compliant mechanism, in order to obtain the minimal deviation (the minimal difference between the realized path of the "coupler" point and the exact straight line). Finally, the mobility of the developed compliant mechanism, that is, the limit positions of the links determined by the maximal bending stress value, is examined

Uticaj termičke obrade plodova paradajza na antioksidativnu aktivnost, sadržaj vitamina E, suve materije i ukupnih šećera

The objective of this study was the determination of total antioxidant activity, contents of vitamin E, sugar and total dry matter in fresh and thermally processed (dried and juiced) tomato fruits of different selected tomato lines with the aim to establish the nutritive profile and distinguish superior genotypes in order to obtain high-quality final product with more benefit to human health. Content of vitamin E, total antioxidant activity, dry matter and total sugars, in fresh and dried fruits (dried in parallel hot air dryer at 60 °C, until the final product reached the moisture lower than 10% and in tomato juice pasteurized at 100 °C, for 7 minutes) was studied. Comparative trial with 7 genotypes: one commercial variety (SP-109) and 6 selected high inbreeding generation lines (SPP, SPSM, SPRZ, SPRM-20, S-60 and SPO), was set up. Genotype SPRZ had the highest vitamin E content and total antioxidant capacity, both in fresh fruit and after the treatments. Thermal processing by drying at 60°C and pasteurization of tomato changed the level of total sugar and dry matter content. Total antioxidant activity decreased by drying, comparing to fresh fruit while the level of vitamin E decreased in juice pasteurized at high temperature (100 °C). .Cilj istraživanja je određivanje ukupne antioksidativne aktivnosti, sadržaja vitamina E, sadržaja šećera i ukupne suve materije u svežim i termički obrađenim (sušeni plodovi i sok) plodovima različitih selekcionih linija paradajza, sa ciljem utvrđivanja nutritivnog kvaliteta i izdvajanja superiornih genotipova, čijom preradom bi se dobio kvalitetniji krajnji proizvod sa pozitivnim dejstvom na ljudsko zdravlje. Ispitivani su sadržaj vitamina E, ukupna antioksidativna aktivnost, suva materija, i ukupni sadržaj šećera, kod svežih plodova, sušenih plodova (sušenje toplim vazduhom na 60 °C, do konačne vlage uzorka manje od 10%) i soka paradajza (pasterizacijom na 100 °C, u trajanju od 7 minuta). Izveden je komparativni ogled sa 7 genotipova, jedna komercijalna sorta (SP-109) i 6 selekcionisanih linija (SPP, SPSM, SPRZ, SPRM-20, S-60 I SPO) visokih generacija inbridinga. Termička obrada plodova paradajza (sušenjem na 60 °C) i pravljenjem soka dovodi do promene ukupnog sadržaja šećera i sadržaja ukupne suve materije. Ispitivanjem ukupne antioksidativne aktivnosti utvrđeno je da se ona gubi sušenjem u odnosu na svež plod, a sadržaj vitamina E se smanjio u soku koji je dobijen obradom na višim temperaturama (100 °C). Genotip SPRZ imao je najviše vrednosti za sadržaj vitamina E i ukupan antioksidativni kapacitet kako u svežem stanju tako i nakon primenjene obrade. Izborom superiornih genotipova i akumulacijom nutrijenata kroz oplemenjivačke programe, može se poboljšati kvalitet krajnjeg proizvoda i postići dobijanje prerađevina sa većim pozitivnim uticajem na zdravlje ljudi

Compliant multi-fingered adaptive robotic gripper

Passively compliant underactuated mechanisms are one way to obtain the finger which could accommodate to any irregular shaped and sensitive grasping object. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents design of the adaptive underactuated compliant multi-fingered gripper with distributed compliance. The optimal topology of the finger structure was obtained by an iterative optimization procedure. It was proven that for real robotic applications multi-fingered grippers with three or more fingers were more suitable for stable and safe grasping.Passiven nachgiebigen unteraktuierten Mechanismen bieten die Möglichkeit solche Robotergreifer zu entwerfen die anpassfähig an irgendeine unregelmäßig geformte und empfindliche Greifobjekt sind. Der Zweck der Unteraktuierung ist nur ein Aktor für die Greifer-öffnen/schließen-Funktionen zu benutzen. Völlig nachgiebige Mechanismus hat grosse Anzahl der Freiheitsgrade und man kann als unteraktuierte Mechanismus betrachtet werden. In diesem Beitrag wird ein adaptive unteraktuierte nachgiebige Multifinger-Greifer mit verteilten Nachgiebigkeit entworfen. Die optimale Topologie der Fingerstruktur wurde durch ein iteratives Optimisationverfahren bekommen. Es wurde bewährt dass für die realen Anwendungen der Multifinger-Greifer mit drei und mehr Fingern für stabile und sichere Greifen besser geeignet ist

Software tools for simultaneous data visualization and T cell epitopes and disorder prediction in proteins

We have developed EpDis and MassPred, extendable open source software tools that support bioinformatic research and enable parallel use of different methods for the prediction of T cell epitopes, disorder and disordered binding regions and hydropathy calculation. These tools offer a semi-automated installation of chosen sets of external predictors and an interface allowing for easy application of the prediction methods, which can be applied either to individual proteins or to datasets of a large number of proteins. In addition to access to prediction methods, the tools also provide visualization of the obtained results, calculation of consensus from results of different methods, as well as import of experimental data and their comparison with results obtained with different predictors. The tools also offer a graphical user interface and the possibility to store data and the results obtained using all of the integrated methods in the relational database or flat file for further analysis. The MassPred part enables a massive parallel application of all integrated predictors to the set of proteins. Both tools can be downloaded from http://bioinfo.matf.bg.ac.rs/home/downloads.wafl?cat=Software. Appendix A includes the technical description of the created tools and a list of supported predictors