Projekt wspinającego się po drzewach robota rolniczego do zrywania orzechów kokosowych

The conventional method of coconut plucking followed in coconut farms is arduous as well as a perilous job. There are abounding cases of trauma in which most of them has ended up in the death. Here comes the significant demand for a robot to do this task which would be decisive in mitigating the perils and to meet the everlasting demand of coconut. The foremost intention of the project was to design a climber with a 5 DoF serial chain robot (plucker), which together is supposed to do the coconut climbing and plucking task and also should be available to the farmers at an affordable cost. In the current version, the robot is expected to work complying the commands given by the farmer from the ground who can see the bunch of coconuts through the eyes of robot (cameras) as the robot is not shrewd enough to identify which drupe is ready to be plucked or not. For being cost effective, and light weight, the entire robot skeleton is structured in aluminium alloy with the minimum feasible dimensions of its size and the motor drive selection is also given imperative consideration.Konwencjonalna metoda zrywania orzechów stosowana na uprawach kokosów jest męcząca i ryzykowna. Często dochodzi do wypadków prowadzących nawet do śmierci. Pojawia się zatem istotna potrzeba zastąpienia pracy ludzkiej przez odpowiednio skonstruowane roboty - pozwoli to na rozwiązanie problemów związanych z zagrożeniami, przy zapewnieniu poziomu produkcji odpowiadającego ciągłemu popytowi na orzechy kokosowe. Głównym celem pracy było opracowanie projektu robota modułowego - mobilnej wspinającej się po pniu platformy transportującej część wykonawczą (robota o pięciu stopniach swobody), której zadaniem jest odcinanie kiści orzechów. Robot powinien być możliwie tani, aby był dostępny dla szerokiej grupy rolników. W wersji, będącej przedmiotem pracy, robot będzie pracował pod nadzorem rolnika pozostającego na ziemi, który będzie decydował, na podstawie obserwacji wizualnej przekazywanej przez kamerę zainstalowaną na końcówce robota, które orzechy nadają się do zerwania. Dla zapewnienia niskiego kosztu i małej masy, szkielet robota jest zbudowany ze stopu aluminium o minimalnych możliwych wymiarach zapewniających jednak odpowiednią sztywność i wytrzymałość. Podobne warunki wzięto pod uwagę przy wyborze silników

Fourteenth CISM-IFToMM Symposium

Mechanics, Motion Control, Sensing and Programming, Synthesis and Design, Legged Locomotion and Biomechanical Aspects of Robots and Manipulators – world view of the state of the art. Characterization: This volume presents the latest contribution to the theory and practice of modern robotics given by the world recognized scientists from Australia, Canada, Europe, Japan, Mexico, Singapore and USA

Impact Loads and Crash Safety of the Cockpit of a Composite Glider

One major problem associated with gliding is the safety of the crew during landings in the country outside the airfield. The analysis of glider-accident statistics shows that such out-landings may significantly influence the safety. Therefore, of vital importance are the crashworthiness properties of the glider fuselage structure. The subject of the study was the PW-5 glider fuselage made of composites and subjected to high loads typical of glider crashes. The aim was to provide experimental data for validation of a numerical model of the cockpit-pilot system during impact. Two experimental tests with the composite glider cockpit were performed using a typical car-crash track. During the first test the cockpit with a dummy inside was crashed onto the ground at the angle of 45 degrees at a speed of 55 km/h. Accelerations and deformations at chosen points in the cockpit as well as signals coming from the dummy sensors and forces in the seat belts were recorded. The second test was an impact into a concrete wall at a speed of about 80 km/h. The full-scale tests were accompanied by a number of quasi-static and dynamic laboratory tests on samples of composite material. The experimental tests provided valuable results for the parametrical identification of a simulation model developed using the MADYMO software

Impact Loads and Crash Safety of the Cockpit of a Composite Glider

One major problem associated with gliding is the safety of the crew during landings in the country outside the airfield. The analysis of glider-accident statistics shows that such out-landings may significantly influence the safety. Therefore, of vital importance are the crashworthiness properties of the glider fuselage structure. The subject of the study was the PW-5 glider fuselage made of composites and subjected to high loads typical of glider crashes. The aim was to provide experimental data for validation of a numerical model of the cockpit-pilot system during impact. Two experimental tests with the composite glider cockpit were performed using a typical car-crash track. During the first test the cockpit with a dummy inside was crashed onto the ground at the angle of 45 degrees at a speed of 55 km/h. Accelerations and deformations at chosen points in the cockpit as well as signals coming from the dummy sensors and forces in the seat belts were recorded. The second test was an impact into a concrete wall at a speed of about 80 km/h. The full-scale tests were accompanied by a number of quasi-static and dynamic laboratory tests on samples of composite material. The experimental tests provided valuable results for the parametrical identification of a simulation model developed using the MADYMO software

Impact Loads and Crash Safety of the Cockpit of a Composite Glider

One major problem associated with gliding is the safety of the crew during landings in the country outside the airfield. The analysis of glider-accident statistics shows that such out-landings may significantly influence the safety. Therefore, of vital importance are the crashworthiness properties of the glider fuselage structure. The subject of the study was the PW-5 glider fuselage made of composites and subjected to high loads typical of glider crashes. The aim was to provide experimental data for validation of a numerical model of the cockpit-pilot system during impact. Two experimental tests with the composite glider cockpit were performed using a typical car-crash track. During the first test the cockpit with a dummy inside was crashed onto the ground at the angle of 45 degrees at a speed of 55 km/h. Accelerations and deformations at chosen points in the cockpit as well as signals coming from the dummy sensors and forces in the seat belts were recorded. The second test was an impact into a concrete wall at a speed of about 80 km/h. The full-scale tests were accompanied by a number of quasi-static and dynamic laboratory tests on samples of composite material. The experimental tests provided valuable results for the parametrical identification of a simulation model developed using the MADYMO software

Optimising a Driving Mechanism Mechanical Design of Exotic Exoskeleton - a Review on Motors and Power Transmission Systems for Upper Limb Exoskeletons and a Case Study

While designing rehabilitation exoskeletons is often realised based on experience and intuition, many processes can be computer-aided. This gives the opportunity to design lighter and more compact constructions. Hence, the devices can be fully wearable and have a wider range of motion. So far, mainly topology optimisation and parametric dimensional optimisations have been used for that. The presented study addresses the problem of automatic selection of the driving systems for exoskeletons. It consists of the literature review of the components used to actuate the joints of such constructions, optimisation algorithm development, and a case study on the EXOTIC exoskeleton. The method includes building a database of motors and gearboxes, computing inverse kinematics of a certain system to obtain angular trajectories from the task-oriented paths, iteration computing inverse dynamics to compute required torque, and the search for the optimal solution according to the defined goal function. This approach enables single joint and multijoint optimisation, with the custom goal function minimising optionally masses, diameters or widths of the selected driving systems. The investigation consists of the 28 simulation trials for EXOTIC exoskeleton to compare results obtained for different aims. Moreover, to visualise the effect, the 1st DOF driving mechanism is redesigned to obtain its minimum width based on the optimisation results. The optimal choice reduced the actuation mechanism mass by 15.3%, while its total dimensions by 17.5%, 8.5% and 26.2%, respectively. The presented approach is easily transferable to any other active exoskeleton and can contribute to designing compact and lightweight constructions. This is particularly important in assistive rehabilitation and can also be used in industrial assistance processes

Study on the Applicability of Digital Twins for Home Remote Motor Rehabilitation

The COVID-19 pandemic created the need for telerehabilitation development, while Industry 4.0 brought the key technology. As motor therapy often requires the physical support of a patient’s motion, combining robot-aided workouts with remote control is a promising solution. This may be realised with the use of the device’s digital twin, so as to give it an immersive operation. This paper presents an extensive overview of this technology’s applications within the fields of industry and health. It is followed by the in-depth analysis of needs in rehabilitation based on questionnaire research and bibliography review. As a result of these sections, the original concept of controlling a rehabilitation exoskeleton via its digital twin in the virtual reality is presented. The idea is assessed in terms of benefits and significant challenges regarding its application in real life. The presented aspects prove that it may be potentially used for manual remote kinesiotherapy, combined with the safety systems predicting potentially harmful situations. The concept is universally applicable to rehabilitation robots