Manipulační subsystém mobilního robotu Hercules

The article describes a manipulation subsystem for the mobile robot HERCULES. The manipulator was designed and realized on the Department of robotics as a part of the MPO project “VÝZKUM A VÝVOJ SPECIÁLNÍHO VÍCEÚČELOVÉHO ZÁSAHOVÉHO VOZIDLA“ with registration number FT-TA3/014 at which we participated. In the article is described the drive unit which was designed for the joints of the manipulator. Further is described methodology of functional tests which were done for verification of functional parameters and their comparison with parameters obtained from simulations on virtual prototypes.V článku je popsán manipulační subsystém mobilního robotu HERCULES. Manipulátor byl navržen a realizován na Katedře robototechniky v rámci řešení etapy projektu MPO „VÝZKUM A VÝVOJ SPECIÁLNÍHO VÍCEÚČELOVÉHO ZÁSAHOVÉHO VOZIDLA“ s evidenčním číslem FTTA3/ 014 jehož jsme byli spoluřešitelé. V článku je dále popsána pohonná jednotka, která byla pro potřeby manipulátoru navržena. V závěru článku je popsána metodika funkčních testů manipulátoru pro ověření funkčních parametrů a jejich srovnání s parametry získanými při výpočtech a simulacích na virtuálních prototypech

Research and development of a knowledge-based design system for designing selected elements of mechatronic devices

The design of mechatronic devices is a demanding process not only in terms of the time required but also of the demands placed on the knowledge and experience of development workers. The aim of this research and development was to create suitable procedures, algorithms, and databases of 3D models, with the help of which could this process be significantly shortened and simplified. The results of the development are a software tool for the design of electric drive units, procedures for creating 3D models with the possibility of using the SolidWorks software API, methods for automating the creation of assemblies of 3D models and a description of the knowledge database in which various data and algorithms are stored. The benefits of the proposed procedures, the Drive Picker software tool, and the knowledge database, are demonstrated on the design of a robotic arm with 5 degrees of freedom. Despite the complexity of the preparation of documents needed, it turns out that the chosen approach can significantly speed up and simplify the design of mechatronic devices.Web of Science20215390538

Design of algorithms for automatic selection of drive units for mechatronic devices

The design and selection of a suitable drive unit for use in mechatronic systems is a process that can be demanding not only in terms of the time required but also in terms of the demands placed on the knowledge and experience of development workers. The development aimed to create algorithms for the selection of compact electric power units based on data from dynamic analyses of the proposed system, with the help of which it would be possible to shorten and simplify the drive unit selection process significantly. The result of the development is a software tool called DrivePicker. Its functions and benefits are demonstrated in the design of drive units for a robotic arm with an angular structure and 5 degrees of freedom. Comparing selected units from two manufacturers (Spinea DS and HarmonicDrive CanisDrive) shows that by using this software tool, we can significantly speed up and streamline the design of mechatronic devices. DrivePicker also has an interface for connection to simulation and CAD systems, which opens up the possibility of further autonomy.Web of Science20214370436

Knowledge-based automated mechanical design of a robot manipulator

Design methods have been improving with an increasing level of algorithmic support for some time. The most recent advances include generative design and various optimization methods. However, the automated design tools are often focused on a single stage of the design process, for example, kinematics design, mechanical topology, or drive selection. In this paper, we show the whole design process of a robotic manipulator in an automated workflow. The method consisted of two main parts: a genetic optimization of the kinematic structure and an iterative automated CAD design. The method was then applied to a case study in which a manipulator with five degrees of freedom for a handling task was designed.Web of Science1212art. no. 589

Research and development of a software tool for parametric modeling of robotized workplaces

Designing a robotic workplace is a time and knowledge intensive process. It requires systems engineers who specialise in the design of this type of workplace and have the appropriate know-how in this area. Due to the time-consuming nature and the small number of experts, a small number of solution options are often created, from which the most suitable one is subsequently developed. The aim of the development was to create a tool that would simplify the design of robotic workplaces. The result is a software tool integrated into the SolidWorks CAD system. The tool uses a database of models. The connection between the developed software tool and the database is realized through the API of the SolidWorks CAD system. Thanks to this tool, it is possible to simplify and speed up the work of workplace design. More variant solutions can be developed and overall better results can be achieved.Web of Science20225683567

Automation of design of robotic arm

Robotic arms are complex mechatronic systems. Therefore, their design requires knowledge and experience from various technical fields, such as mechanics, electrical engineering, electronics or control. From the view of the requirements placed on developers, the design of robotic arms is one of the more complex tasks. Unfortunately, there is a lack of necessary specialists in this field of technology. Therefore, ways are sought to help existing specialists in their work and, simultaneously, reduce the time needed to design the required equipment. At the same time, there are also sought ways to open the way to this issue for developers who do not yet have enough experience.For this reason, algorithms and development tools have been developed to significantly simplify and reduce the time required to design robotic arms and simultaneously automate as much of this process as possible. The aim is to shorten the design time and achieve better results than in the case of designs according to classical procedures.Web of Science20225882587

Application of mechatronic procedure in the design of specialized measuring devices

PrezenčníNeuvedenoNeuveden

Návrh hybridního kolového a kráčejícího servisního robotu

Import 20/04/2006Prezenční výpůjčkaVŠB - Technická univerzita Ostrava. Fakulta strojní. Katedra (354) robototechnik

Design and analysis of locomotive subsystem of service robot intended for movement in broken terrain

Import 27/01/2012Disertační práce se zabývá návrhem a analýzou lokomočního subsystému mobilního servisního robotu, určeného pro pohyb ve členitém terénu. Úvod práce je věnován popisu oblasti zasažené krizovou situací a možnému scénáři zásahu s a bez využití mobilního servisního robotu. Následuje analýza stávajícího stavu v oblasti mobilních servisních robotů určených pro zásahy při krizových situacích. Na základě této analýzy jsou určeny některé parametry budoucího lokomočního subsystému. Na základě dalších požadavků je proveden návrh čtyřkolového lokomočního subsystému mobilního robotu. Tento subsystém je podroben analýze z pohledu možnosti natáčení jednotlivých kol, resp. manévrovacích schopností. Následně je proveden návrh mechanismu pro přenos krouticího momentu z pohonné jednotky na kolo robotu. V dalším kroku je proveden výpočet potřebných výkonů pohonných jednotek při pohybu po nájezdové rampě. Jsou využity vztahy vyplývající z podmínek rovnováhy sil a momentů. Získané hodnoty jsou následně srovnány s výsledky simulace provedené v prostředí softwaru MD ADAMS. Totéž je provedeno pro překážku typu kvádr. V tomto případě je již využíván pokročilejší algoritmus řízení jednotlivých pohonných jednotek, založený na principu momentového řízení. Výsledky simulací jsou opět porovnávány s výsledky výpočtů. Analýza pohybu robotu po schodišti je provedena pouze z pohledu možných kolizí. Závěr práce je věnován konstrukčnímu řešení přední a zadní nápravy podvozku robotu. Jsou nastíněny možnosti řešení problémů vyplývajících z navrženého mechanismu natáčení kol.Thesis is focused on design of locomotive subsystem of mobile service robot intended for movement in broken terrain. The introduction of thesis is devoted to description of the area affected by crisis situation as well as to description of possible scenario considering an intervention with and without mobile service robot using. Following part of the work is analyzing current state of mobile service robots that are intended for crisis situation solution. On the basis of this analysis there are determined some parameters of expected locomotive subsystem. In accordance with next requirements a design of four-wheel locomotive subsystem of mobile robot is made. This subsystem is analyzed in view of the possibility for individual wheel steering (maneuverability). Next part of the thesis brings the design of mechanism for torque transfer from control section to the wheel of robot. Next step consisted of necessary power determination for drive units that is required for movement on highway ramp. There are used relations resulting from the equilibrium conditions of forces and torques. Obtained values are consequently compared with results of simulation executed in software MD ADAMS. Similar procedure was executed for ashlars obstacle but with more advanced algorithm based on the moment control principle utilization. The results of simulation are again compared to the solved ones. Analysis of robot movement upstairs is done only with focus on possible crash. The conclusion of thesis summarizes design of front as well as rear axletree of the robot chassis. There is suggested possible solution of problem raised from designed mechanism for wheel steering.Prezenční354 - Katedra robototechnikyvyhově

Automation of the design of the cross-section of the manipulator arms profile

The design of the arms of industrial robots and manipulators is a demanding process both in terms of expertise and in terms of the time required. For these reasons, algorithms have been created, with the help of which it is possible to design cross-sections of individual arms of robots and manipulators not only from the point of view of maximum allowed deflection but also from the point of view of minimizing cross-sectional dimensions or minimizing the weight of arms. These algorithms were subsequently used in the development of the software tool RobotArmDesign, with the help of which it is possible to simplify and shorten the arm design process significantly. This tool also has a connection to the SolidWorks CAD system and its simulation tools through its API interface, making it possible to refine robot arms designs while maintaining significantly shorter design times than would be the case with commonly used procedures. This tool's capabilities were demonstrated in the design of a robot arm with an angular structure and five degrees of freedom.Web of Science20214871486