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    Wyświetlanie 1-6 z 6
    Tytuł:
    Forward kinematics algorithm for anthropomorphic manipulators
    Algorytm rozwiązywania kinematyki prostej manipulatorów antropomorficznych
    Autorzy:
    Kubik, I.
    Kwiatoń, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/103469.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Humanistyczno-Przyrodniczy im. Jana Długosza w Częstochowie. Wydawnictwo Uczelniane
    Tematy:
    algorithm
    anthropomorphic manipulator
    forward kinematics
    D-H notation
    algorytm
    manipulator antropomorficzny
    kinematyka prosta
    notacja Denavita-Hartenberga
    Opis:
    The paper presents the problem of forward kinematics of an anthropomorphic manipulators. The proposed forward kinematics algorithm based on equations of classical mechanics. The sample simulations have been done for four degrees of freedom manipulator mounted on the Martian rover. The correctness of the proposed algorithm has been verified with the help of results obtained using Denavit-Hartenberg notation. The shown derivations are basis to consider of dynamics problem. The presented algorithm can be also used for other devices having only rotational joints.
    W pracy przedstawiono zagadnienie kinematyki prostej manipulatorów antropomorficznych. Zaproponowany algorytm rozwiązywania kinematyki prostej sformułowano, bazując na metodzie wykorzystującej równania mechaniki klasycznej. Przedstawiono przykładowe wyniki symulacyjne dla manipulatora o czterech stopniach swobody zamontowanego na łaziku marsjańskim. Działanie zaproponowanego algorytmu sprawdzono, porównując uzyskane wyniki z rezultatami otrzymanymi z wykorzystaniem notacji Denavita-Hartenberga. Otrzymane parametry ruchu manipulatora stanowią podstawę do rozważań zagadnień dynamicznych. Zaprezentowany algorytm może być wykorzystywany także do innych urządzeń posiadających tylko przeguby obrotowe.
    Źródło:
    Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa; 2017, T. 5; 39-51
    2300-5343
    Pojawia się w:
    Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Mathematical modeling of mechanical phenomena in the gantry crane beam
    Autorzy:
    Sowa, L.
    Kwiatoń, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/122642.pdf
    Data publikacji:
    2017
    Wydawca:
    Politechnika Częstochowska. Wydawnictwo Politechniki Częstochowskiej
    Tematy:
    mathematical modelling
    stress analysis
    numerical simulation
    FEM
    modelowanie matematyczne
    analiza naprężeń
    symulacj numeryczna
    wytrzymałość materiałów
    suwnice bramowe
    metoda elementów skończonych
    Opis:
    This work concerns the numerical analysis of the gantry crane beam in the context of the safety of the structure. The mathematical model and numerical simulations of mechanical phenomena in the gantry crane beam are presented in this paper. The analysed gantry crane beam has a T-section. As a result of the computations carried out, the stresses and displacements of the gantry structure were obtained. The influence of the value and loading force position on the equivalent stress in the gantry crane beam was evaluated. It was sought that the maximum value of Huber-Mises-Hencky stress induced in the beam was less than the strength of material, so the design is safe.
    Źródło:
    Journal of Applied Mathematics and Computational Mechanics; 2017, 16, 3; 97-104
    2299-9965
    Pojawia się w:
    Journal of Applied Mathematics and Computational Mechanics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    The Influence of Riser Shape on Feeding Effectiveness of Solidifying Casting
    Autorzy:
    Sowa, L.
    Skrzypczak, T.
    Kwiatoń, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/383146.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    solidification process
    castings defects
    numerical simulation
    liquid metal flow
    proces krzepnięcia
    wady odlewów
    symulacja numeryczna
    przepływ ciekłego metalu
    Opis:
    The mathematical model and numerical simulations of the solidification of a cylindrical shaped casting, which take into account the process of filling the mould cavity by liquid metal and feeding the casting through the riser during its solidification, are presented in the paper. Mutual dependence of thermal and flow phenomena were taken into account because have an essential influence on solidification process. The effect of the riser shape on the effectiveness of feeding of the solidifying casting was determined. In order to obtain the casting without shrinkage defects, an appropriate selection of riser shape was made, which is important for foundry practice. Numerical calculations of the solidification process of system consisting of the casting and the conical or cylindrical riser were carried out. The velocity fields have been obtained from the solution of momentum equations and continuity equation, while temperature fields from solving the equation of heat conductivity containing the convection term. Changes in thermo-physical parameters as a function of temperature were considered. The finite element method (FEM) was used to solve the problem.
    Źródło:
    Archives of Foundry Engineering; 2019, 4; 91-94
    1897-3310
    2299-2944
    Pojawia się w:
    Archives of Foundry Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    The Effect of Metal Pouring Conditions on the Formation of Defects in the Casting
    Autorzy:
    Sowa, L.
    Skrzypczak, T.
    Kwiatoń, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/946863.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    castings defects
    solidification process
    numerical modelling
    molten metal flow
    wady odlewów
    proces krzepnięcia
    modelowanie numeryczne
    metal ciekły
    Opis:
    The mathematical model and numerical simulations of the solidification of a cylindrical casting, which take into account the process of the mould cavity filling by liquid metal and the feeding of the casting through the conical riser during its solidification, are proposed in the paper. The interdependence of thermal and flow phenomena were taken into account because they have an essential influence on solidification process. The effect of the pouring temperature and pouring velocity of the metal on the solidification kinetics of the casting was determined. In order to obtain the casting without shrinkage defects, an appropriate selection of these parameters was tried, which is important for foundry practice. The velocity fields have been obtained from the solution of Navier-Stokes equations and continuity equation, while temperature fields from solving the equation of heat conductivity containing the convection term. In the solidification modelling the changes in thermo-physical parameters as a function of temperature were considered. The finite element method (FEM) was used to solve the problem.
    Źródło:
    Archives of Foundry Engineering; 2020, 20, 2; 31-36
    1897-3310
    2299-2944
    Pojawia się w:
    Archives of Foundry Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Analysis of Temperature and Velocity Fields During Filling of Continuous Casting Mould
    Autorzy:
    Sowa, L.
    Skrzypczak, T.
    Kwiatoń, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/379679.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    solidification process
    continuous casting
    numerical simulation
    molten metal flow
    krzepnięcie
    odlewanie
    symulacja numeryczna
    Opis:
    In this paper, the mathematical model and numerical simulations of the molten steel flow by the submerged entry nozzle and the filling process of the continuous casting mould cavity are presented. In the mathematical model, the temperature fields were obtained by solving the energy equation, while the velocity fields were calculated by solving the momentum equations and the continuity equation. These equations contain the turbulent viscosity which is found by solving two additional transport equations for the turbulent kinetic energy and its rate of dissipation. In the numerical simulations, coupling of the thermal and fluid flow phenomena by changes in the thermophysical parameters of alloy depending on the temperature has been taken into consideration. This problem (2D) was solved by using the finite element method. Numerical simulations of filling the continuous casting mould cavity were performed for two variants of liquid metal pouring. The effect of the cases of pouring the continuous casting mould on the velocity fields and the solid phase growth kinetics in the process of filling the continuous casting mould was evaluated as these magnitudes have an influence on the high quality of the continuous cast steel slab.
    Źródło:
    Archives of Foundry Engineering; 2018, 18, 1; 115-118
    1897-3310
    2299-2944
    Pojawia się w:
    Archives of Foundry Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Numerical Evaluation of the Impact of Riser Geometry on The Shrinkage Defects Formation in the Solidifying Castin
    Autorzy:
    Sowa, L.
    Skrzypczak, T.
    Kwiatoń, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/2048812.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    numerical simulations
    solidification
    casting defects
    FEM
    Opis:
    The work concerns of modeling the process of manufacturing machine parts by casting method. Making a casting without internal defects is a difficult task and usually requires numerous computer simulations and their experimental verification at the prototyping stage. Numerical simulations are then of priority importance in determining the appropriate parameters of the casting process and in selecting the shape of the riser for the casting fed with it. These actions are aimed at leading shrinkage defects to the riser, so that the casting remains free from this type of defects. Since shrinkage defects usually disqualify the casting from its further use, this type of research is still valid and requires further work. The paper presents the mathematical model and the results of numerical simulations of the casting solidification process obtained by using the Finite Element Method (FEM). A partial differential equation describing the course of thermal phenomena in the process of 3D casting creating was applied. This equation was supplemented with appropriate boundary and initial conditions that define the physical problem under consideration. In numerical simulations, by selecting the appropriate shape riser, an attempt was made to obtain a casting without internal defects, using a simple method of identifying their location. This is the main aim of the research as such defects in the casting disqualify it from use.
    Źródło:
    Archives of Metallurgy and Materials; 2022, 67, 1; 181-187
    1733-3490
    Pojawia się w:
    Archives of Metallurgy and Materials
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-6 z 6

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