Kinematic and dynamic study of a manipulator 1T6R

The paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added. The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined. Equations of the dynamics are also determined through an original method

KINEMATICS OF THE V MECHANISM USED FORELECTRIC SWITCHERS BASED ON SPECIALISED SOFTWARE

This paper is representing a continuing research of the doctoral thesis "Geometrical analysis and synthesis of mechanisms in the electrotechnical field". Using two Mathcad programs as mathematics analysis software and Solidworks as graphical analysis software it is dimensioned the new kinematics scheme of the high voltage V mechanism. Kinematic analysis is based on the mathematical model presented in the doctoral thesis mentioned above and graphical modeling and analysis is conducted to compare and complete the research regarding the V mechanism triadic chain 5R + T type

KINEMATICS OF THE V MECHANISM USED FORELECTRIC SWITCHERS BASED ON SPECIALISED SOFTWARE

This paper is representing a continuing research of the doctoral thesis "Geometrical analysis and synthesis of mechanisms in the electrotechnical field". Using two Mathcad programs as mathematics analysis software and Solidworks as graphical analysis software it is dimensioned the new kinematics scheme of the high voltage V mechanism. Kinematic analysis is based on the mathematical model presented in the doctoral thesis mentioned above and graphical modeling and analysis is conducted to compare and complete the research regarding the V mechanism triadic chain 5R + T type

Inverse modeling of the stewart foot

The Stewart's leg is used today in the majority of parallel robotic systems, such as the Stewart platform, but also in many other types of mechanisms and kinematic chains, in order to operate them or to transmit motion. A special character in the study of robots is the study of inverse kinematics, with the help of which the map of the motor kinematic parameters necessary to obtain the trajectories imposed on the effector can be made. For this reason, in the proposed mechanism, we will present reverse kinematic modeling in this paper. The kinematic output parameters, ie the parameters of the foot and practically of the end effector, ie those of the point marked with T, will be determined for initiating the working algorithm with the help of logical functions, "If log(ical)", with the observation that here they play the role of input parameters; it is positioned as already specified in the inverse kinematics when the output is considered as input and the input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad

Positional modeling of the 2T6R robot mechanism

The positional modeling of the 2T6R robot mechanism is done for inverse kinematics, i.e. when the imposed positions of the end effector T, imposed, belonging to the final element 3, are known and the necessary positions and speeds of the two input motors, the two leading elements, are determined, 1 and 6. It is proposed to solve a simple algorithm in the program MathCad 2000, which uses for initiation the logical function If Log. The kinematic output parameters, i.e. the parameters of the foot and practically of the final effector, i.e. those of the point marked with T, will be determined for initiating the working algorithm using the logical functions, "If log (ical)", with the observation that here plays the role of parameters input; is positioned as already specified in reverse kinematics when the output is considered as input and input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad 2000

Somethings About Biological Prostheses

Finite element models of the female biofidel were developed using a specific combination of segmentation with computed tomography and solid modeling tools capable of representing bone physiology and structural behavior. This biofidel finite element (FEM) model is used to evaluate the change in the physiological distribution of stress in the femoral prosthesis and to evaluate the new design criteria for biopsy. Biomimetics, biomechanics, and tissue engineering are three multidisciplinary fields that have been considered in this research to achieve the goal of improving the reliability of prosthetic implants. The authors took these studies to gather the untapped potential of such advanced materials and design technologies by developing finite models of Biofidel elements capable of correctly mimicking the biomechanical behavior of the femur. The new remodeling of the tetrahedral elements was performed in 3Matic looking for the congruence of the node at the bone-implant interfaces, where the material was defined for the new configuration of the finite elements. The evaluation of the mechanical properties was made taking into account the mechanical characteristics of the cortical and trabecular bone. For biomechanical integration of the implant, a custom material with an improved combination of strength and rigidity that matches the bone should be used. This greater biomechanical compatibility will avoid weakening the implant and increase lifespan, avoiding additional surgery for revision and allowing good biological integration (bone growth). Innovative biomimetic materials for tissue engineering based on hydrophilic polymers were developed by our research group and presented attractive physical, biological, and mechanical properties for biomedical applications. For use with metal prostheses, the authors have developed a hybrid biocompatible material, extremely biocompatible, based on hydrophilic chemicals and hydroxy-ethyl-methacrylate type. The structural metal composition of the new prostheses will be made of titanium alloys using additive technology based on melting thin layers of titanium powder (about 50 microns) on each other until the desired component is obtained (sandwich method). Then, the biomaterial and osteoconductive nanostructured material developed in our previous studies can cover the titanium structural prosthetic skeleton. These hybrid biological prostheses, which are made using synthetic materials capable of inducing the growth of biological networks and structural steel scaffolding, may favor the emergence of new classes of orthopedic hybrids in the medical field. The new hybrid bio-prosthesis could drastically reduce protection against stress while providing an advantageous improvement in the life of the prosthesis compared to traditional solutions. Recovering optimal joint functionality will improve the patient's quality of life, which perceives a significant reduction in the risk of the new surgery. The requirement to predict potential structural changes that could be induced by improper use of biologically compatible prostheses in bone structure and morphology has forced our studies to evaluate fictitious models that could be considered for efficient bone distribution and orthotropic behavior

Modelling and simulation of a wind energy system

Nowadays, wind energy systems are the most efficient systems of all renewable energy production systems. Therefore, all sizes and types of this kind of systems are available, but there are few portable systems which can be temporarily mounted in certain isolated areas. We propose in this case study another solution as an alternative: an adaptable mechatronic system which can withstand even in very difficult and challenging weather conditions due to their active surfaces that have reconfigurable automatic structure

Modelling and simulation of a waste sorting mechatronic system for multi-floor residential buildings

The paper presents modelling and simulation of a mechatronic sorting system for residential buildings where the “wet” garbage can be used as fuel in an energy generation system. The proposed system can be used for the implementation of a selective storage model in the actual garbage chute system. The proposed system will have five different storage capacities that can be recycled: paper, glass, plastic packaging, metal boxes and organic household waste

Dynamics of Mechanisms with Superior Couplings

The paper briefly presents the dynamic synthesis of mechanisms with superior couplings, force, and speed distribution, efficiency, loss coefficient, dynamic coefficient or motion transmission function, determination of variable angular input speed from the crank or cam based on solving the equation Lagrange, the determination of the dynamic variation of the follower (adept) based on the integration of Newton’s equation, and the dynamic analysis of several models taken into account. In the end, the original relations for calculating the efficiency of a gear are presented