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    Wyświetlanie 1-5 z 5
    Tytuł:
    The Development of Mechanism with Hybrid Kinematic Structure Prototype
    Autorzy:
    Poppeová, V.
    Uríček, J.
    Bulej, V.
    Šindler, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/971211.pdf
    Data publikacji:
    2009
    Wydawca:
    Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
    Tematy:
    parallel kinematic structure
    hybrid kinematic structures
    parallel kinematic machines
    parallel kinematic robots
    Opis:
    This paper deals with the development of mechanism with hybrid kinematic structure called trivariant and its subsystems. Hybrid machines are characterized by connecting advantages of both type mechanisms together - high dynamics of parallel mechanisms for positioning and high flexibility and high mobility range of serial mechanisms for orientation. At our department was built the small-scale mechanism prototype used for testing, functional verification, for education and training. There was created the simulation software and control system based on standard PC for this prototype. Our prototype can be applied like small CNC milling machine but it is possible to modify it also for the manipulation with objects like robot device.
    Źródło:
    Journal of Machine Engineering; 2009, 9, 3; 102-109
    1895-7595
    2391-8071
    Pojawia się w:
    Journal of Machine Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Mechanical properties of modern wheeled mobile robots
    Autorzy:
    Trojnacki, Maciej
    Dąbek, Przemysław
    Powiązania:
    https://bibliotekanauki.pl/articles/384817.pdf
    Data publikacji:
    2019
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    wheeled mobile robot
    kinematics
    dynamics
    kinematic structure
    wheel
    Opis:
    The paper discusses mechanical properties of modern wheeled mobile robots including aspects of kinematics and dynamics. Relevant features of these robots and of used types of wheels are considered. Robots are categorized into six groups according to kinematic structures, which can be obtained using various types of wheels. For each group mechanical properties, which characterize the robots are discussed. Various variants of the robots within particular groups are described and some examples of existing solutions are given. Individual variants of the robots are compared and assessed taking into account the possessed features.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 3; 3-13
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Selection of kinematic structure for portable machine tool
    Dobór struktury geometryczno-ruchowej obrabiarki mobilnej
    Autorzy:
    Nowak, M.
    Jastrzębski, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/175821.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    obrabiarka mobilna
    struktura geometryczno-ruchowa
    projektowanie
    portable machine tool
    kinematic structure
    design
    Opis:
    The article presents the problem of selecting kinematic structures for the proposed portable machine tool. Developed methodology of selection has been based on the detailed design requirements and elimination conditions formulated thanks to them. The paper describes the program developed to assist the process of selecting the kinematic structures for the portable machine tool and the results achieved.
    W artykule przestawiono problem doboru struktury geometryczno-ruchowej dla projektowanej obrabiarki mobilnej. Opracowano metodykę doboru struktury geometryczno-ruchowej w oparciu o szczegółowe wymagania projektowe i sformułowane kryteria. Zaprezentowano sposób działania opracowanego programu wspomagającego proces wyboru struktury geometryczno-ruchowej obrabiarki mobilnej oraz przedstawiono uzyskane efekty.
    Źródło:
    Advances in Manufacturing Science and Technology; 2012, 36, 1; 33-45
    0137-4478
    Pojawia się w:
    Advances in Manufacturing Science and Technology
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Identifying the isomorphism of kinematic chainsIdentifying the isomorphism of kinematic chains
    Autorzy:
    Romaniak, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/386909.pdf
    Data publikacji:
    2016
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    isomorphism
    structure of mechanisms
    kinematic chain
    izomorfizm
    łańcuch kinematyczny
    struktura mechanizmów
    Opis:
    Identification of isomorphic kinematic chains is one of the key issues in researching the structure of mechanisms. As a result the structures which duplicate are eliminated and further research is carried out on kinematic chains that do not duplicate. This dilemma has been taken up by many scholars who have come up with a variety of ideas how to solve it. The review of the methods for identifying the isomorphism of kinematic chains suggested by researchers is contained in this study, including Hamming Number Technique, eigenvalues and eigenvectors, perimeter graphs, dividing and matching vertices. The spectrum of methods applied to the issue of identifying the isomorphism of mechanisms reflects the researchers’ efforts to obtain a precise result in the shortest time possible.
    Źródło:
    Acta Mechanica et Automatica; 2016, 10, 3; 195-200
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: proposed adaptive neural control
    Autorzy:
    Martins, N. A.
    Alencar, M.
    Lombardi, W. C.
    Bertol, D. W.
    Pieri, E. R.
    Filho, H. F.
    Powiązania:
    https://bibliotekanauki.pl/articles/971045.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    wheeled mobile robot
    trajectory tracking
    kinematic control
    variable structure control
    dynamic control
    sliding mode theory
    neural networks
    Lyapunov theory
    Opis:
    This paper analyses a trajectory tracking control problem for a wheeled mobile robot, Rusing integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach.
    Źródło:
    Control and Cybernetics; 2015, 44, 1; 47-98
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-5 z 5

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