SummaryThis paper investigates a battery snap-in operation performed by an industrial robot. The snap-fit phenomenon is experienced during the insertion of batteries into the battery holder. In order to understand the nature of the snap-fit phenomenon, the large displacement but small deformation theory is used to model the insertion operation. The stability of equilibrium points is analysed in order to determine the so-called trip point. The purpose of the investigation is to augment the displacement control of the robot with force feedback. A microcontroller-based measurement system is implemented to provide the force feedback. The proposed method is valid for a class of snap-fit problems not only for the investigated specific one.
This paper deals with the control of an inverted pendulum. Balancing techniques are used in great many controlling problems. The inverted pendulum problem is often used as a benchmark. The theoretical background is well-known and easy to treat. A commercially available Rexroth axis controller and a CKK compact module are used to control the input of the system, which is usually applied in industrial fields. A test bench has been designed and built. A PLC based program has been developed to swing up the pendulum from the rest location to inverted position and LQR controller is designed to balance the system.
A cikk egy olyan intelligens robotmegfogó fejlesztésének lépéseit ismerteti, amelyet különböző, stabilitásvesztéssel járó szerelési folyamatokra lehet alkalmazni. A megfogó két részből tevődik össze, az első egy pneumatikusan mozgatott munkadarabok megfogására alkalmas kereskedelemben kapható mechanizmus, míg a második része egy egyedileg tervezett, mikrovezérlőt és egy erőmérő cellát tartalmazó egység. A megtervezett és megépített robotmegfogó intelligens alkalmazására a cikk egy akkumulátorpakk feltöltési folyamatát mutatja be.
This paper deals with development of a measurement system, which is capable to calculate the rotational speed of a rotor. The unit contains a microcontroller, an infrared reflective optical sensor with resistors. The selection of current limiting resistors of the optical sensor will be discussed in order to set up an electrical circuit. The simulation of the electrical circuit was performed to compare the voltage and current values with the calculated ones. Microcontroller programs were written in C language in order to compute the average frequency or the Root Mean Square (RMS) values of a rotating element. Comparative measurements were also carried out to check the accuracy of the developed system.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.