Mechatronics is nowadays a dominating concept in design of various kinds of systems and technical devices. High speeds of data processing by control units of mechatronic systems, as well as high dynamics of their actuators allow the systems to be applied in wider fields. This refers to the medicine as well, especially while making attempts to replace lost human motor abilities by means of robots aiding the man. These devices can be divided into three groups: exoskeletons designed to strengthen the natural force of human muscles, orthotic robots that restore lost or weakened functions of human limbs, and prosthetic robots replacing an amputated limb. The first and the third group are known quite well, whereas the orthotic robots are at an initial phase of their development. The authors have worked on a device for aiding the motion of disabled people suffering from paresis of the lower limbs. The paper presents a concept and a structure of the system that has been created, comparing it with similar devices that have already existed. There are indicated some connections and areas where the subunits merge, as well as the rules of their working with the user.
This paper shows the result of work of the Institute of Micromechanics and Photonics at Warsaw University of Technology and the Length and Angle Division of Central Office of Measures (GUM) [1] in building an automatic multiwavelength interferometric system with extended measurement range for calibration of long (up to 1 m) gauge blocks. The design of a full working setup with environmental condition control and monitoring systems, as well as image analysis software, is presented. For length deviation determination the phase fraction approach is proposed and described. To confirm that the system is capable of calibrating gauge blocks with assumed accuracy, a comparison between the results of 300 mm length gauge block measurement obtained by using other systems from the Central Office of Measures is made. Statistical analysis proved that the system can be used for high precision measurements with assumed standard uncertainty (125 nm for a length of 1 m). Finally the comparison between our results obtained for a long gauge block set (600 mm to 1000 mm long) and previous calibrations made by the Physikalisch-Technische Bundesanstalt (PTB) [2] is shown.
The aim of presented work was to analyse the feasibility of using 3D-print technology in robotics based on the production of industrial robot flexible grippers. For selected geometry of gripper single finger available 3D printing techniques has been analysed. The study made by authors uses the following additive technologies and devices: SLS (Selective laser Sintering) and FDM (Fused deposition modelling). As a prior an analyses of capabilities of individual technologies were done by testing the quality of the 3D CAD model recreated on test print-outs. Based on the printed gripper, its functionality, and strength properties were examined. Strength of grapplers was tested with a use of an MTS test machine under repeating deflexion simulating standard operational cycle of a gripper. Test proved that at least few thousands of cycle are possible to be made by a 3D printed gripper. What interesting gripper made with use of the less advanced printer showed different wear behaviour than an one made on the more advanced. First one showed almost instantaneous start of slow and constant strength degradation while the second one proved to have a stable deflexional capability by almost twice an number of cycles. More isotropic structure of an SLS printed gripper caused the best results of all tested ones.
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