During the latest years the parallel structure robots have been used more and more due to their advantages that consist of: high stiffness, availability for usage at higher speed and acceleration rates. In general these robots are used for handling light objects [. For choosing the driving servomotors of the robots, the maximum torques needed for the parallel mechanism to transport an object of a certain weight, along a trajectory, at a certain speed and acceleration, have to be considered. In this work the authors are approaching the study of the variation of the driving torques of the robots with parallel structure Delta 3DOF along a trajectory, in order to select the driving servomotors [2]. For analyzing the driving torque variations along a trajectory the MSC Adams software pack has been used.
The Texas Instruments microcontrollers in the MSP 430 series offer four ways to save power in operation in such a way as to allow for consistent reduction of the electricity consumed. Code Composer Studio programming environment also provides support in making low-power applications. In addition to these, the MSP430FR2433 microcontroller with ferroelectric RAM allows data to be stored even in the absence of power voltage. In view of these properties of the microcontroller, a data logger application has been developed to monitor the quality of the environment in a building. Given that the MSP430FR2433 microcontroller can process both analog and numerical signals, the device monitors the temperature, humidity, carbon dioxide concentration and amount of light present in the enclosure. Thanks to energy-saving mechanisms and the possibility of keeping information for an indefinite period without the need for energy consumption, the ambient quality monitoring device can operate for a long time in places without energy resources. The device has also been tested with good results for autonomous operation using solar energy and has also been used to determine the energy performance of buildings.
The robots which are composed of mechanisms with Delta 3 DOF parallel structure are increasingly used due to the advantages they poses such as high rigidity and that they can be used at high speed and acceleration. When the mechanical structure of the parallel robots with Delta 3 DOF structure is designed, a proper selection of the drive servomotors is imposed. The drive servomotors are chosen according to the values of the torque needed for the manipulated object to move in the workspace along a trajectory with a specific speed and acceleration. In this paper, the authors approach the study regarding the variation of the drive torques of parallel robots with Delta 3 DOF structure, when the manipulated object moves along a trajectory with imposed speed and acceleration, in order to choose the drive servomotors. In order to determine the value of the drive torque, SolidWorks software was used. From the results obtained by experimental means, it has been revealed that the usage of the software packages in the dynamic simulation of the mechanical assemblies determines the shorten of time, costs of projection, in comparison with practical testing which supposes the realization of the prototypes physically, expensive and time consuming process.
Many areas of activity face the problem of electricity quality. At the same time, diagnosing the quality of the energy provided makes it possible to identify and remedy problems that have arisen in the system. Advanced signal processing techniques and the use of advanced systems allow for a complex analysis of the phenomenon. The paper presents an electricity meter equipped with an electricity quality analysis system. It was developed based on the Xilinx Artix-7 programmable logic matrix. A Digilent Arty A7 development board was used due to its design and experimentation facilities. The developed system determines the power consumed and the main elements that define the quality of electricity: harmonics and other deviations from the frequency of nominal power supply, flicker, voltage gaps, voltage variations, transient surge, temporary surge, etc. The possibility of using an embedded system equipped with the Microblaze soft microprocessor, the existence of a 12-bit analog-digital converter and the maximum sampling frequency of 1 MSPS and the possibility of assisted design allows to obtain a measurement system with superior characteristics. The results obtained and the experiments carried out confirm the expected performance for the electricity meter.
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