Mobile crawler robot vibration analysis in the contexts of motion speed selection

The article presents the methodology of body vibration analysis of an inspection robot with the use of flexible connection between the body and the track propulsion modules. The article presents the methodology of selection of motion parameters of an inspection robot, taking into account the vibration of the robot body. The speed of movement of the robot affects the frequency of contact track claws with the ground, which is related to the frequency of vibration excitation. Robot motion parameters are chosen in such a way so as not to over-stimulate the natural frequency of the system. Due to the vibration reduction, it was possible to install a visual system based on an Ethernet video camera without a stabilizer in the body of the robot. Such an approach enables mass production of robots without active suppression systems and video stabilizers which generate high production costs, increase weight of robots and energy consumption

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

This paper proposes a solution for diagnosing the condition of the tools applied in metal alloy robotic machining. Determination of the condition of a cutting tool requires specific methods that depend on the damage type or the wear level. Methods that involved measurements of basic geometric dimensions of cutting tools based on force sensor, and testing the forces of inertia caused by tool unbalance were applied in the work covered herein. Damage of cutting tool, including unbalance, fracture or complete tool wear were detected with a system of force measurement, which was part of the standard equipment of the robot in a process used to investigate the methods covered herein. All methods proposed herein were performed automatically and require no human intervention. This paper presents examples of solutions for determining the condition of a grinding pin, which is a common machining tool

Cardiac tumors : leiomyosarcoma - a case report

We present a case report of a 60-year-old woman with a long history of leiomyosarcoma in different locations. She was admitted to the clinic due to a left ventricular tumor diagnosed in ECHO examination. The patient was qualified for radical tumor resection. The early postoperative period was complicated due to low cardiac output syndrome and bradyarrhythmia requiring temporary cardiac pacing. Optimized pharmacological therapy resulted in a gradual reduction of symptoms and a clinical improvement of congestive heart failure (NYHA III – NYHA II). Due to the radical nature of the surgery, the patient was not referred for supplementary treatment. The follow-up currently exceeds 12 months – no new metastases have been found. This case provides an example of how to diagnose and treat heart tumors

Robotic Grinding Process of Turboprop Engine Compressor Blades with Active Selection of Contact Force

The work presents a robotic system for grinding the blades of a turboprop engine compressor. The proprietary conceptual solution includes a data acquisition system based on a robotic 3D scanner, a neural decision system and a robot performing a grinding process with force control. The contact force of the tool to the blade was assumed as a variable and controlled process parameter. A neural network was used to generate the contact force on the basis of measured machining allowances on the blade. A virtual grid of several dozen regularly spaced points was placed on the surface of the blade. The neural network was learned the allowance-force dependence for the selected points, making it possible to select the proper contact force on the surface to be machined. The developed algorithm for the process of robotic grinding of the blades takes into account the necessity of ongoing quality control of the processing and the introduction of corrections in the process

Design and dynamic testing of a roller coaster running wheel with a passive vibration damping system

This paper presents a design, a numerical analysis, a build-up and dynamic testing of an engineered and fabricated wheel with a passive vibration damping system designed for a roller coaster system. Taking into account the limited amount of space for fixing a wheel to a roller-coaster, this study shows an approach in which a special wheel design and viscoelastic inserts are used to reduce vibrations. A wheel comprises a rim and hub separated by a viscoelastic material and simultaneously connected by using spring steel fasteners with contractions ensuring elasticity. The dynamic tests of the wheel with a passive vibration damping system were completed with an assessment of the vibration reduction ratio in comparison to conventional roller coaster wheel types currently operated at the amusement park Energylandia located in Zator, Poland. Laboratory test results show reduction of vibrations by 36 % in the low frequency range, by 63 % in the medium frequency range and by 45 % in the high frequency range

Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains the synthesis of control laws, in which the knowledge of parameters of the susceptible environment is not required, and which guarantee stability of the system in the case of an inaccurately described contact surface. The novelty of the presented solution is based on introducing an additional module to the control law in directions normal to the interaction surface, which allows for a fluent change of control strategy in the case of occurrence of distortions in the surface. An additional module in the control law is perceived as a virtual viscotic resistance force and resilient environment acting upon the robot. This interpretation facilitates intuitive selection of amplifications and allows for foreseeing the behavior of the system when disturbances occur. Introducing reactions of virtual constraints provides automatic adjustment of the robot interaction force with the susceptible environment, minimizing the impact of geometric inaccuracy of the environment

Position/Force Control of Manipulator in Contact with Flexible Environment

The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law

Neural control of a robotic manipulator in contact with a flexible and uncertain environment

This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot's dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment

EGM Toolbox—Interface for Controlling ABB Robots in Simulink

The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory

Geometric Measurements on a CNC Machining Device as an Element of Closed Door Technology

The article discusses the quality testing of a measuring system consisting of a CNC machine with measuring probes. The research was conducted in a broader context regarding the implementation of the closed door technology, i.e., production without human intervention, in an aviation plant manufacturing aircraft gearbox systems. This technology may involve automated measuring operations performed in machining centers, and not in measuring laboratories, provided that the quality of the measurements is appropriate. The aim of the study was to investigate whether the CNC machining device can be used to measure the geometric features of aircraft gearbox housing. For this purpose, measurement experiments were carried out with the use of three different probes. Measurements were carried out using four sequences of increasing complexity, so that, after error analysis, it was possible to find the causes of possible irregularities. A reference ring with known dimensions and position in the working space of the machine was used for the measurements performed as part of the assessment of the measurement system. The quality of the measurements was evaluated with the use of repeatability and reproducibility testing and statistical process control. The analysis results showed that the tested measurement system ensures adequate accuracy and repeatability, and the measurement process is characterized with adequate efficiency in relation to the manufacturing tolerance of the components produced using the machine. Thus, it was proven that the measurement process can be carried out on a machining device, which enables its integration into the closed door technology