The glycoporphyrins are an important subclass of porphyrin family of compounds. Their biological importance is under intensive development, because they exhibit increased solubility in polar solvents and they might provide...
Application of general purpose computing environments to analysis of manipulators' dynamics gives ability to select elastically the model structure and analysis algorithms, as well as full access to the intermediate results, however, it often requires introduction of various simplifications of the model under consideration. The alternative approach consists in application of the specialized software packages that allow the use of more sophisticated models, but at the cost of restricted access to the intermediate results as well as the limited range of possible modifications of models and solution algorithms. The authors focused on application of the co-simulation technique in analysis of manipulators' dynamics. Co-simulation consists in application of specialized software packages to formulation of the dynamic model. Next, the model is simulated with use of a general purpose computing environment and cooperating specialized software package. The authors used Matlab/Simulink computing environment and MD ADAMS software package. The paper presents comparison of results, problems of application, as well as remarks on educational applicability of manipulator dynamics analysis with use of the simulation and the co-simulation techniques. Two examples of a manipulator dynamics modelling were considered. One example with a considerably simplified mass spatial distribution, and another one with a mass distribution corresponding to a real commercial manipulator. The achieved analysis results confirmed that application of the co-simulation technique eases the use of complex models in analysis of manipulator dynamics with use of the general purpose computing environments.
Strawberry fruit products are of high commercial and consumption value, while difficult to harvest due to their very low mechanical strength and difficulties in identifying them within the plants. Therefore, robots harvesting strawberries should connect four subsystems: vision of detection, delivery arm (manipulator), effector (harvesting head), and finally-a platform increasing the working space adapted to the size of the farm. The presented work of the conceptual working section of a combine for harvesting strawberry fruit from crops, carried out in rows or cultivation ridge, from cultivation on field and/ or under covers will meet the requirements for: work productivity, quality of harvested fruit, reduction of the amount of pollution. To requirements have been met, the developed concept of constructions adopted the principle of operation during the first phase of the harvesting (in the natural distribution of fruit within the plants of strawberries) and the working of the work arm head (based on image analysis, initially general, and in the last phase of detailed) maneuvering in surrounded by harvested fruit and machine.
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