Integration of robotic systems in a packaging machine: A tool for design and simulation of efficient motion trajectories

In this paper, the advantages of CACSD (Computer Aided Control System Design) tools for integrating a robotic system in a packaging machine are illustrated. Beside the mechanical integration of the robot into the machine architecture, it is necessary a functional integration, that requires a precise synchronization with the other parts of the system. In the proposed application, a robot with a parallel kinematics is used for pick-and-place tasks between two conveyor belts. It is therefore necessary a proper motion planning which allows to synchronize the grasp and release phases with the conveyor belts, avoiding obstacles and guaranteeing the compliance with bounds on velocity, acceleration and limits in the workspace. A trajectory composed by quintic polynomials has been considered and a specific tool has been designed in the Matlab environment, which allows to modify the parameters of the trajectory and to analyze the obtained motion profiles from both the kinematic and dynamic point of view

Tessuti lanieri estivi: una scheda con proprietà fisiche e meccaniche. Summer wool fabrics, physical and mechanical properties

Da parte del produttore di tessuti è importante poter offrire al confezionista una scheda identificativa che permetta di classificare i tessuti sulla base delle loro caratteristiche fisiche e meccaniche. Il fine ultimo è quello di dar modo al confezionista di individuare i punti deboli da tenere sott'occhio durante il processo di confezione. Il caso dei tessuti pettinati di lana estivi. Summary. It is important for textile manufacturers to be able to provide garment makers with an identification sheet enabling them to classify fabrics according to their physical and mechanical characteristics. The ultimate purpose is to enable the garment maker to identify the weak points on which to keep an eye during the making-up process. The case of summer worsted wool fabrics

Removal of Cu(II) ions from water using thermally-treated horn–hoof powder as biosorbent

In this work, thermally-treated \u201chorn\u2013hoof\u201d powder was studied as biosorbent to remove copper (II) ions from aqueous solutions. Adsorption of copper onto horn\u2013hoof powder was tested in batch process at different experimental conditions. The effect of the initial metal ion concentration, biosorbent dosage, contact time, pH and temperature were investigated with respect to the biosorption characteristics of Cu(II) ion on the horn\u2013hoof powder. The biosorbent characterization was carried out by Fourier transform infrared spectroscopy, mini-cell electrophoresis, BET and particle sizing analysis. According to the tests, the adsorption equilibrium time was reached within 48\u2009h and the optimum adsorption of Cu(II) ions took place at the pH value of 5.5. The Langmuir adsorption isotherm was successfully applied to the biosorption process of Cu(II) ions onto horn\u2013hoof powder. The thermodynamic and kinetic data suggested that the biosorption process is an endothermic process involving chemical reactions and following a pseudo-second-order model

The effect of an innovative atmospheric plasma jet treatment on physical and mechanical properties of wool fabrics

This work concerns the study of some important physical and mechanical properties of a wool fabric treated with a roll-to-roll atmospheric plasma jet equipment. The plasma pilot unit, based on a postdischarge technology, was equipped with an innovative plasma-to-fabric contactor, which promotes a relevant penetration of plasma through the fabric structure and geometrically defines the atmosphere. Wool fabrics were processed at three different velocities (1, 3 and 6 m/min); the other process variables were kept constant. Tensile strength, elongation at break, surface thickness, wettability and air permeability increased after the plasma treatment, while several low-stress mechanical properties, strictly related to the handle, were not modified. SEM analysis was also carried out to better interpret the above macroscopic results