The article presents the design and application of multi-software platform for solving kinematic synthesis of robot manipulator systems. It also presents a modern theoretical and application approach for modelling coupled mechanical systems, which include mobile robots. Due to high requirements for accuracy, efficiency, reliability and life cycle of technical equipment, several parameters ensuring optimal operating parameters need to be taken into account while dealing with the design. This is the reason for linking computational models to optimization algorithms that allows us to find the appropriate design parameters of analysed mechanical system, mechanisms, including mobile robots mostly by iterative way. The commercial working interface of the program ADAMS and open architecture of MATLAB programming language enable to share common data while dealing with model simulations in parallel. Both of them were used while designing and implementing the algorithm for the evaluation and optimization of parameters of technical equipment from the point of view of selected properties. While working on the task of the spatial mechanism of the six-member robot manipulator system, the algorithm solving the optimal parameters was created by applying the selected optimization techniques of the program MATLAB. Presented algorithm involves the creation of a map operating positions, which is further linked to the solution of the motion of interest points in the robotic system following a prescribed trajectory. This requires the geometry optimization of the selected members of the spatial robotic system in order to achieve such parameters so that the trajectory of the interest point of the output member would precisely match with the prescribed trajectory. It is important to note that these types of tasks create wider space for solving the assignments dealing with the development and application of technical equipment like mobile robots and their outputs that are linked to the needs of the practice.
Reduction of noise and vibrations is one of the major requirements put on operation of modern machines. It can be achieved by application of new materials. The ability to utilize them properly requires learning more about their mechanical properties. Vibration attenuation depends on material damping as an important factor. This paper presents the results of research in a carbon composite material focusing on its internal damping, on the measurement of the damping coefficients and on its implementation into mathematical models. The obtained results were used for investigation of suppressing lateral vibrations of a long homogeneous carbon composite bar oscillating in the resonance area. During the transient period and due to nonlinear effects, the harmonic time-varying loading excites the bar response consisting of a number of harmonic components. The specific damping capacity referred to several oscillation frequencies determined by measurement. The results were evaluated from the point of view of two simple damping theories — viscous and hysteretic. The experiments showed that internal damping of the investigated material could be considered as frequency independent. Therefore, in order to carry out simulations, the bar was represented in the computational model by an Euler beam constituted of Maxwell–Weichert theoretical material. A suitable setting of material constants enabled reaching a constant value of the damping parameters in the required frequency range. The investigated bar vibration is governed by the motion equation in which the internal damping forces depend not only on instantaneous magnitudes of the system’s kinematic parameters but also on their past history. Solution of the equations of motion was performed after its transformation into the state space in the time domain. Results of the computational simulations showed that material damping significantly reduced amplitude of the bar vibrations in the resonance area. The producers of composite materials usually provide material parameters allowing to solve various stationary problems (density, modulus of elasticity, yielding point, strength, etc.), but there is only little or almost no information concerning the data needed for carrying out dynamical or other time-dependent analyses such as internal damping coefficients, fatigue limit, etc. Therefore, determination of the hysteretic character of material damping of the investigated carbon composite material, measurement of its specific damping capacity and implementation of the frequency-independent damping into the computational model are the principal contributions of this article.
The aim of this paper is to present chosen theoretical and design approaches, which contain evaluation of the usage suitability of mechanical equipment of trolley conveyor of metal chips and its discrete optimization and design modifications. The problem was solved by software MSC ADAMS and original algorithms created in the environment of software Matlab.
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