Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularities avoidance task, and an obstacle avoidance task. For path planning of end-effector from start to goal point, the potential field method is used. The final inverse kinematic model is designed by a Jacobian-based method considering weight matrices in order to prioritize particular tasks. Our approach is based on the flexible behavior of priority value due to the acceleration of numerical simulation. The results of the simulations show the advantage of our approach, which results in a significant decrease of computing time.
Urgency of the research. Currently, manufacturing of pneumatic components is reserved only to well-equipped manufacturing plants and machine shops. The ability to reliably manufacture pneumatic components on a FDM 3D printer would enable the creation of low-cost custom-made pneumatic actuators with novel properties. This, in turn, could increase the speed and lower the cost of development of prototypes that use pressure air as their power source. Target setting. Today cost-effective 3D printers can be found both in manufacturing plants and small machine shops andhobbyist workshops. Hawing the possibility to make reliable pneumatic components like pneumatic actuators on such machines could be beneficial and lead to opening new applications for them. Actual scientific researches and issues analysis. Currently most research on using additive manufacturing to construct a pneumatic actuator focuses mainly on bellows type actuators. Research on 3d printing of classical pneumatic actuators is scarce and often presents a rough overview of the design process and immediately presenting a functional prototype without focusing and studying the design hurdles thoroughly. Uninvestigated parts of general matters defining. Parts for firm pneumatic actuators manufactured by FDM 3D printing exhibit properties that have detrimental effects on the optimal working of such actuators. The question is on the magnitude of these effects whether these effects can be tolerated and how to design such a firm pneumatic actuator without the need to postprocess all the components. The research objective. The aim of these research was to manufacture an early prototype of full plastic 3d printed not postprocessed linear actuators and make a preliminary analysis of encountered problems therefore pointing the way for further research in this field. The statement of basic materials. The analysis consists of an attempt to manufacture a simple prototype of full plastic 3d printed linear actuators without the use of postprocessing techniques and establishing a baseline for further research. Conclusions. In this paper the design of three iterations of FDM 3D printed pneumatic cylinders are presented. The problems arising from not using any postprocessing on either of the parts and using only 3d printed parts for the construction is also discussed. In the final chapter the design hurdles for the design and manufacturing of such an actuator are presented..
The article deals with the analysis of human vital signs and the design of a low-cost device for monitoring these quantities for domestic use. The aim is to make such devices available for home use and preliminary diagnostics. The article presents the results of experiments with commercially available sensors designed to measure these quantities.
The paper deals with development of an artificial lung ventilation. The aim of the paper is to present developed ventilator based on bag-valve-mask, which could be used as alternative to mechanical ventilator in critical situations related to COVID-19. At first, we present basic principles of positive pressure ventilation. Subsequently, we introduce a requirements to emergency mechanical ventilator in order to be suitable alternative in hospitals as well as in households. The mechanical and control design are presented in the next section. Finally, we experimentally verify developed ventilator with focus on measured pressure of patient airways. The presented results show a potential of developed ventilator to be used at practical level.
Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.
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